Research on calibration method of platform inertial navigation system on precision centrifuge

In order to calibrate the error model coefficients of the platform inertial navigation system tested on the precision centrifuge accurately, the error sources of the precision centrifuge are analyzed first. Combined with the error models of the inertial instruments (liquid floated gyroscope and quartz accelerometer) in the platform inertial navigation system, the calibration model of the platform inertial navigation system tested on the centrifuge, i.e., the state equation and observation equation, is deduced. The Euler angles of the platform, the error model coefficients of the inertial instruments, the installation errors of the instruments, and especially the centrifuge errors are taken as the state variables of the system, and the outputs of the accelerometers, and the Euler angles of the platform are taken as the observation variables. Then, the calibration scheme of the platform inertial navigation system tested on the centrifuge is designed, and the corresponding simulation analysis is carried out. The error model coefficients of the instruments are estimated by the extended Kalman filter. The influence of centrifuge errors on the calibration results is analyzed, which verified that the proposed method can effectively eliminate the influence. Thereby, the calibration accuracy of the inertial navigation platform system is improved, especially high-order error coefficients.