A Novel Laboratory Test for High-Accuracy SINS Attitude Algorithms Based on the Gyroscope Output Reconstruction Method

A laboratory test based on the gyroscope output reconstruction method (GORM) to evaluate the super-high-accuracy strapdown inertial navigation attitude algorithms is proposed herein. A period of coning motion, which inspires non-commutative error, is simulated by turntable and inertial-grade IMU. The compensation performance of non-commutative error reflects the accuracy of algorithms. The original low-dynamic data is transformed into high-dynamic data by GORM to solve the problem that it is difficult to test super-high-accuracy attitude algorithms in the laboratory. The effectiveness and feasibility of GORM are verified by simulation. The result of practical algorithms' accuracy test of GORM is consistent with simulation. Both indicate GORM can process real test data for high-dynamic-condition algorithm evaluation. It is meaningful for the design and analysis of super-high-accuracy algorithms.