System-level calibration for NMRG inertial navigation system considering the influence of magnetic field

To address the problem of gyroscope being affected by external magnetic field fluctuations, especially for nuclear magnetic resonance gyroscope (NMRG), a system-level calibration method considering the influence of magnetic field is proposed. The method is based on a 39-dimensional Kalman filter, and except for the geomagnetic field, no additional external magnetic field is required. The simulation results show that this method can calibrate all basic error factors and gyro magnetic field coefficients simultaneously. And the navigation experiment shows that this method can increase the navigation accuracy by 84.9%.