A Study on the SDINS's Gyro Bias Calibration Method in Disturbances

Lee, Youn-Seon; Lee, Sang-Jeong

Journal of the Korea Institute of Military Science and Technology 2009;12(3):368-377.

Youn-Seon Lee, Sang-Jeong Lee

¹
²Chungnam National University

외란을 고려한 스트랩다운 관성항법장치 자이로 바이어스 교정기법

이윤선, 이상정

¹국방과학연구소
²충남대학교

Abstract

In this paper we study the gyro bias calibration method of SDINS(Strap-Down Inertial Navigation System). Generally, SDINS's calibration is performed in 2-axis(or 3-axis) rate table with chamber for varying ambient temperature. We assumed that the majority of calibration-parameter except for gyro bias is knowned. During gyrobias calibration procedure, it can be induced some disturbances(accelerometer's short-term error induced rate table rotation and anti-vibration mount's rotation). In these cases, old gyro-bias calibration methods(using velocity error or attitude error) have an error, because these disturbances are not detectable at the same time. So that, we propose a new gyro-bias calibration method(heading error minimizing using equivalent linear transformation) that can detect anti-vibration mount's rotation. And we confirm efficiency of the new gyro-bias calibration method by simulation.

Key Words: INS, Calibration, Equivalent Linear Transformation