Abstract:

In order to decrease the influence of three-axis turntable errors on the calibration accuracy of inertial measurement unit’s (IMU’s) error model coefficients, and to increase the calibration accuracy of the IMU on the three-axis turntable, various error sources of the three-axis turntable are analyzed. the relationships among the outputs of the gyros and the accelerometers, the position and attitude errors of the turntable are given. Then an angular position and rate test using -20 piont regular dodecahedron is designed. The IMU’s error model coefficients and error sources of the turntable are identified simultaneously using the least square method, thus the errors of the three-axis turntable are automatically compensated and the calibration accuracy of the IMU’s model coefficients is raised greatly with this method. Finally, the simulation analysis is conducted, and the relationships between the errors of the turntable and IMU’s error model coefficients calibration errors are given.