MIMU Parameter Identification for Large Misalignment Angles Based on AFSA

High precision calibration of Micro inertial measurement unit (MIMU) for large installation misalignment can improve the instrument and the practical use of the system precision. It can use high precision turntable to get the coarse value of installation misalignment angle as the optimization initial value, and take the standard deviation of turntable angular rate and the acceleration of gravity as the optimum index to find MIMU misalignment parameters using artificial fish swarm algorithm. Simulation and analysis are carried out based on the position and rate experiment. In addition, static navigation test is taken by using self-developed MEMS heading and attitude measurement system. Both the simulation and experimental results show that this method can improve the calibration accuracy of MIMU effectively with reduced of heading and attitude error.