A method for self calibration of HINS parameters based on reverse navigation

Aiming at the problem of incomplete parameter identification for error calibration in hybrid inertial navigation systems(HINS), which leads to poor navigation accuracy. The article proposes an error parameter calibration method for 45-dimensional HINS based on reverse navigation, Firstly, designs a 22-position continuous rotation path and the velocity and attitude error caused by various error parameters are fully excited through an indexing mechanism. Then, the state error and observation formula of the HINS calibration model were derived. The calibration data was stored while the forward calibration was being performed. After the forward navigation filtering was completed, the stored data was reused using the reverse navigation algorithm, and the error parameters continued to be estimated until all error parameters converged. Finally, the observability analysis of the estimated calibration parameters was performed. According to the results of simulation and turntable experiments, it can be concluded that without disassembling the machine, the HINS can estimate the error parameters of the inertial device more accurately by using its own transposition mechanism, and at the same time shorten the calibration time and improve the navigation accuracy, which has certain theoretical significance and value for engineering application value.