Continuous Self-Calibration Rotating Angular Rate Optimization of Platform Inertial Navigation System

As one of the input of the continuous self-calibration, the rotating angular rate affects the calibration accuracy of platform inertial navigation system directly. This paper analyzes the effect of rotating angular rate on the continuous self-calibration of platform inertial navigation system, and designs the optimal rotating angular rate based on the analysis results. Firstly, the calibration model is given, and the effect of rotating angular rate on system model and output is analyzed. Then, the relationship between estimation error and initial error is obtained by analyzing the process of Kalman filter. Based on this, the error transformation is researched and the observable degree of system state is defined. At last, the optimal rotating angular rate is given based on the principle of maximum observable degree. The results of simulation prove that the calibration accuracy is improved efficiently under the optimal rotating angular rate.