Calibration error analysis of inertial measurement units (IMU) is significant for evaluating navigation system performance, allotting errors, and choosing devices in projects. However, few researches on IMU calibration give the quantificational forms of calibration errors. Based on quaternion, this paper constructs an error model about axes perpendicularity errors and angle control errors of a turntable. Considering measurement errors of gyroscopes and accelerometers in an IMU, we derive the calibration parameters' errors using a typical multi-position calibration method. Finally simulations and calibration tests of a laser gyro strapdown inertial navigation system are performed to verify the calibration error analysis.
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张红良,武元新,查亚兵,等.高精度惯测组合标定误差分析[J].国防科技大学学报,2010,32(1):142-146. ZHANG Hongliang, WU Yuanxin, ZHA Yabing, et al. Calibration Errors of High-precision Inertial Measurement Units[J]. Journal of National University of Defense Technology,2010,32(1):142-146.