CALIBRATION OF AN INERTIAL MEASUREMENT UNIT AT CHANGING

CALIBRATION OF AN INERTIAL MEASUREMENT UNIT AT CHANGING TEMPERATURE WITH SIMULTANEOUS ESTIMATION OF TEMPERATURE VARIATION COEFFICIENTS: A CASE STUDY ON BINS-RT A. Kozlov, I. Tarygin, A. Golovan, I. Shaymardanov, A. Dzuev • Key advantages: - no predefined plan of operations; - simple uniform estimation algorithm (i. e. Kalman filter); - no wait for thermal equilibrium. • Previous results combined in a new case study: - original algorithm based on redundancy of inertial measurements; - measurements from precise turntable encoders; - estimation of temperature coefficients under changing temperature; - elastic deformations of INS structure; - series of calibration experiments with BINS-RT (ITT, Ramenskoe).

CALIBRATION OF AN INERTIAL MEASUREMENT UNIT AT CHANGING TEMPERATURE WITH SIMULTANEOUS ESTIMATION OF TEMPERATURE VARIATION COEFFICIENTS: A CASE STUDY ON BINS-RT A. Kozlov, I. Tarygin, A. Golovan, I. Shaymardanov, A. Dzuev • Standard linear state-space (nonautonomous) system: - attitude errors, gyro null drifts, scaling errors and misalignments; - accelerometer constant terms of null bias, scaling errors and misalignments; - temperature coefficients of null biases and scaling factors; - IMU vs. turntable angular misalignments and time lag; - coordinates of the center of rotation, elastic deformation parameters, etc.