Error compensation of angular velocity for rotating FOG SINS

Rotating modulation technology increases the complexity of error measurement while inhibiting the drift of inertial sensors. Only compensating these errors can get effect of this technology. The impacts brought by errors, such as the non-vertical angle between fiber optic gyroscope (FOG) sensitive axis and rotating axis, the whirl of rotating axis, the time asynchronization, the non-vertical angle between sensitive axes, are analyzed. The compensation model for respective error is established. And to calibrate these errors, a method based on single-axis turntable and self-rotation of unit is designed. The results indicate that the calibration precision of the non-vertical angle between sensitive axis and rotating axis is better than 0.2″, that of the non-vertical angle between sensitive axes is better than 1.4″, that of the time asynchronization is better than 0.06 ms, and the FOG drift is improved from 0.050°/h to 0.015°/h because of rotating modulation and error compensation. Foundation is established for high-precision low-cost inertial navigation system.