Full parameter rapid field calibration method for regular tetrahedral redundant inertial navigation

Regular tetrahedral Redundant Inertial Navigation System (RINS) has the characteristics of high reliability and high precision, and error calibration is a necessary means to realize high-precision navigation solution. At present, the error calibration of regular tetrahedral RINS needs to be realized by using the high-precision turntable, which not only has high calibration cost and long calibration time, but also cannot calibrate full error parameters under the condition of insufficient hardware conditions such as external field. Address this issue, a rapid field calibration method for full error parameters of regular tetrahedral RINS without high-precision turntable was proposed. Firstly, the error model of regular tetrahedral RINS was established. Then, according to the relationship between the analytic coarse alignment attitude error matrix and the bias of regular tetrahedral RINS, a bias calibration method based on six positions was proposed. Then, a three-position rotation scheme was designed to calibrate the scale factor and installation error of the gyroscope. Finally, the six-position scheme of bias calibration was used to calibrate the scale factor and installation error of the accelerometer. Simulation and experiment show that this method can effectively calibrate full error parameters. In the 1h static base navigation experiment, the north positioning accuracy are improved from 61.065 5 km to 0.476 7 km, and the east positioning accuracy are improved from 161.202 7 km to 4.842 2 km.