Research on Axis Misalignment Auto-Calibration of Rotary INS/CNS Integrated System

In INS/CNS integrated navigation system, for the accuracy of celestial measurement information, the Axis Misalignment Auto-Calibration Technology of INS/CNS Installation Error on Ships is studied in the paper, since the starlight navigation precision is restricted by inertial horizontal reference. In the traditional celestial equipment calibration, the installation error is normally calibrated and marked on the reference hexahedron of starlight attitude through special rotary table in the darkroom. When celestial information and inertial navigation is integrated, once more calibration and marking is demanded through inertial navigation reference mirror. In the traditional mode, normally the calibration and marking of INS/CNS integration is completed at the dock, and in no dock condition, it is difficult to achieve a precise and dynamical calibration and marking though with auxiliary optical equipment. For the adaptability of INS/CNS integrated system, the INS/CNS Axis Misalignment Auto-Calibration Technology is presented, free from the required auxiliary optical measurement instrument and celestial calibration at darkroom, converting the complicated optical calibration process to recursive filtering estimation. In this paper, the Axis Misalignment of INS/CNS Integrated System is established, and it is estimated by Kalman filter.