Determination of time delays in measurement channels during SINS calibration in inertial mode

Abstract

The article presents a method of determining gyro and accelerometer delays during calibration of strapdown inertial navigation systems (SINS) of navigation accuracy. The method uses the Kalman filter in SINS navigation mode and estimates errors in gyro and accelerometer delays and scale factors, sensitivity axes misalignment and drift, coordinates of accelerometer proof masses in the body-fixed frame. Application of SINS navigation mode during calibration reduces the requirements to accuracy of the rate table. The obtained estimates of calibration parameters are self-consistent, minimizing the resulting SINS error. The method was tested during calibration of FOG-based SINS.