Method of online correction based on optical targeting/SINS combination

For solving the strapdown inertial navigation system (SINS) error accumulation problem of land combat equipment, a method is proposed for computing the speed using the optical targeting process, which is used for online correction of SINS state parameters. The optical targeting speed error model is deduced, and the error analysis shows that the speed measurement using the optical targeting process meets the accuracy requirements for correcting the main state parameters of the SINS. The optical targeting/SINS mathematical correction model is established, and the simulation experiment is performed. Experimental results show that the proposed method can accurately estimate the main parameters of the SINS error status by setting a reasonable state of motion for the moving base, as the misalignment angle estimation accuracy can reach less than 1 arcmin, and the gyro drift error estimation accuracy can reach 0.01 degree per hour.