Systematic calibration method based on acceleration and angular rate measurements for fiber-optic gyro SINS.

A simple systematic calibration method based on acceleration and angular rate measurements is introduced for the fiber-optic gyro strapdown inertial navigation system in this paper. Meanwhile, a unified mathematical framework and an iterative calculation method are designed for the systematic calibration method. Using this method, one can estimate the fiber-optic gyro inertial measurement unit (FOG IMU) parameters both at a manufacturer's facility and in the field. In order to get all FOG IMU parameters, a procedure adopted based on this approach consists of two stages: First, FOG IMU raw data (accelerometer and gyro readouts) are accumulated in 19 specified FOG IMU positions. Second, the accumulated data are processed by special software to estimate all FOG IMU parameters. In addition, observability analysis of the method in 19 specified FOG IMU positions is done without the limitation of FOG IMU's initial orientation, and this analysis provides theoretical support for the application in a complex terrain. Moreover, the influence of gravity disturbance is analyzed for the first time. The analysis and experiment results show that the systematic calibration method provided by this work can meet the requirement of FOG IMU calibration. [ABSTRACT FROM AUTHOR]