Low-computation Online Calibration Method for Accelerometer Size-effect in RINS

When carrier undergoes attitude motion, the size-effect errors of accelerometer will lead to the deterioration of positioning accuracy in rotational inertial navigation system (RINS), which are necessary to be calibrated and compensated before putting into operation. The published calibration methods are usually based on establishing high-dimensional Kalman filter models, which have the disadvantages of large computational complexity, long computation time, and difficulty in online operation. In this paper, a novel low-computation calibration method for accelerometer size-effect errors is proposed, which combines the advantages of analytical calibration and Kalman filter calibration methods. The simulation and experiments prove that the proposed method can effectively calibrate the size-effect errors, with calibration accuracy better than 1 mm and the time cost shorter than 35 min. By comparing with the high-dimensional filtering calibration method, the proposed method has only one tenth of the computational complexity, which can realize the online calibration and greatly improve the maintenance efficiency of RINS.