Abstract:In view of the inertial parameter output requirements of a certain type of inertial measurement unit, this paper proposes and implements a system-level calibration algorithm based on the Kalman filter. On the basis of establishing the calibration coordinate system, the system-level calibration error model is introduced in detail, and the design and algorithm implementation of the double-axis rotary table calibration scheme are discussed in detail. Then the system-level calibration full-temperature experiment is carried out and the calibration results are analyzed. Finally, based on the calibration compensation, the parameter consistency verification and the navigation performance verification are carried out. Experimental results show that compared with the traditional calibration scheme, the system-level calibration scheme is not affected by the vibration-reducing pad, and no need for the northbound benchmark. It is simple and convenient to clip. The main error parameters of the inertial measurement unit can be calibrated at one time, and it has high repeat-ability, good parameter consistency and extremely high engineering application value.