The dynamic self-calibration method improves accuracy of shaft inclination in shipborne inertial navigation systems, indicating better performance under sailing conditions.
The space-tracking ship’s inertial navigation system (INS) is required to have high attitude accuracy. The attitude fluctuation caused by the inclination of the rotating shaft is one of the major factors decreasing the attitude accuracy of single-axis rotational INS. At present, the calibration of shaft inclination angles is mostly carried out under static conditions, and the calibration of shaft inclination angles under ship mooring or sailing conditions is a practical problem to be solved. This paper proposes a dynamic self-calibration method for the shaft inclination angles of the shipborne RINS, deduces the mathematical relationship between the shaft inclination and the attitude difference of different RINS, and establishes the shaft inclination calibration and compensation model. The experiment shows that the method can effectively estimate and compensate the rotor inclination under the dynamic conditions at sea, and the repeatability of the self-calibration results of the shaft inclination between different RINSs is better 0.1″, which can effectively improve the accuracy of the RINS attitude output.
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Kong et al. (2025) studied this question.
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