一种IMU全零偏快速标定方法

The attitude, velocity and positioning accuracy of the strapdown inertial navigation system (SINS) is mainly affected by the bias of IMU. Obviously, calibrating and compensating the bias of IMU can improve the system's navigation performance. The traditional alignment uses multi-position and designed maneuver to increase the observability to estimate the bias of IMU, but there are still some biases that cannot be estimated, and the filter convergence process takes a long time. Aiming at this problem, referring to the relationship between the non-orthogonal and non-unitized errors of the analytic coarse alignment matrix and the northward, upward bias of gyros, and upward bias of accelerometer, a three-position all of the biases of IMU fast calibration method is proposed. Collecting the static data for the IMU each axis upward for 2 minutes, respectively. The whole process takes only 6 minutes can obtain all the IMU biases, which is more suitable for field bias calibration. Simulation and actual tactical-level IMU tests show that the proposed method can quickly and effectively calibrate all biases of the IMU. The alignment and pure inertial navigation verification tests show that higher accuracy and navigation performance can be obtained after compensation of the calibrated biases.