Abstract:

On the research of rotating modulation strapdown inertial navigation system (SINS), a new  approach which estimates accelerometer and gyroscope horizontal errors in three position alignment is presented by the study of the relation among inertial instrument errors, misalignment angles estimation accuracy and inertial measurement unit (IMU) attitude. In order to achieve optimal estimation, an IMU optimal rotating position is studied in theoretical analysis. Analysis shows that the IMU’s optimal position can be gotten by rotating IMU around the rotation axis 90° in turn on the basis of the initial position. The theoretical analysis is verified through digital simulation.