Abstract:

When the vehicles are sailing for a long time, the changes in environmental and other factors will cause gyro drift, scale factor and installation errors. Therefore gyro's on-line calibration is necessary. We uses high precision attitude information provided by CNS (Celestial Navigation System), installs gyro's on-line calibration models based on quaternion error, a method of hybrid filter of SINS(Strap Down Inertial Navigation System)/CNS integrated gyro's on-line calibration based on MPF (Model Prediction Filter) is presented. Results of simulation show that this method is good for on-line calibration, not only meets the requirements of calibration acuracy, but also reduces the amount of calculation, improves the numerical stability.

Key words: on-line calibration, quaternion error, model prediction filter (MPF), hybrid filter