Abstract:

Rotating axial nonorthogonal error is the major indexing mechanism error of rotation strapdown inertial navigation system （SINS）, it has the most significant effect on system accuracy. Aming at the shortage that the rotating-axial nonorthogonal error calibrate method based on the change of carrier attitude can only applied to the stationary base, a calibration method based on Kalman filter is put forward to realize the calibration of nonorthogonal error under outfield conditions with rocking disturbances. State equations are established on the basis of the error model, and the calibration path is designed by the observability degree analysis. Simulations and experiments show that the calibration method is with high accuracy and can realize the high precision calibration of rotatingaxial nonorthogonal error under outfield conditions with rocking disturbances.