Calibration and compensation method for inner ring angle offset of pendulum type integrating gyro accelerometer

The invention relates to an inner ring angle offset calibration and compensation method for a pendulum type integrating gyro accelerometer, and belongs to the technical field of inertia. Comprising the following steps: establishing an output model of the gyro accelerometer at a small angle; carrying out offset calibration on the inner ring angle of the gyro accelerometer to obtain an inner ring angle offset compensation amount; according to one calibration method, the magnitude of the beta angle offset is calculated by establishing an output fluctuation model, and the positive and negative directions of the beta angle offset are determined through a beta angle compensation test, and according to the other calibration method, the beta angle offset is searched through a traversal type point-by-point approximation method for binding and compensating a series of beta angles. Beta angle bias obtained by the two methods is used as compensation quantity and is bound to a servo digital control circuit through a seria