Error evaluation for RSINS errors based on covariance analysis

Rotational strapdown technology is an error self-compensation technique that utilizes the periodic rotation of an inertial measurement unit (IMU) to modulate the errors of inertial components and improve the long-term accuracy of an inertial navigation system (INS). A new method for evaluating the rotational modulation effect of the transposition scheme is proposed to address the problem of tedious analysis and calculation process. It combines the covariance analysis of Kalman filter time update and the error propagation characteristics of open-loop strapdown inertial navigation. Through numerical simulation calculation, all inertial device error factors, including zero bias error and installation error matrix of gyroscope and accelerometer, are accurately separated and given. The implementation process is simple and easy to promote. The new method can also be used to assist in optimizing the design of transposition schemes.