Integrated calibration method for RLG IMU

To solve the problem in using low-accuracy turntable to calibrate the high-precision ring laser gyroscope inertial measurement unit, a new integrated calibration method is proposed. At first, a static analytical calibration method is applied to coarsely calibrate the initial values of IMU system parameters. Then, based on the error function of strapdown inertial navigation algorithm, an extended Kalman filter is established to refine the obtained coarse parameters. The experiment results show that, the proposed method is able to acquire high-precision calibrated results by using low-accuracy turntable, which decreases the calibration cost of IMU and satisfies the precision requirement of RLG IMU.