New comprehensive calibration method of carrier-based inertial navigation system

A new comprehensive calibration method is proposed to solve the problem that position error of carrier based INS would increase with time in long-time voyage. Intermittent external references are acquired to determine INS position and velocity errors, and the parameters identification method is used to pick-up the platform misalignment angles and the equivalent gyro drifts, which are compensated in the outputs to realize INS errors resetting process without re-alignment. Experiment results show that the proposed calibration method can achieve accuracy of 5″ and 0.0005 (°)/h in platform misalignment angles and equivalent gyro drifts respectively, thus can restrain the system errors to a certain range and greatly improve the equivalent system navigation accuracy.