A Comprehensive Error Modeling and On-Field Calibration Method for HRG SINS by Tumbling the Hexahedron

On-field calibration for SINS often uses right hexahedron, but the influence of the structure errors, such as mutual position tolerances towards parallelism or the per-pendicularity of two arbitrary planes of the hexahedron, on the calibration accuracy is often neglected. In this paper, a hexahedron structure error model and a comprehen-sive corresponding SINS calibration error model are developed based on hemispherical resonator gyroscope (HRGs). The proposed method introduces the comprehensive hexahedron errors through defining the normal vectors of the exterior surfaces of the hexahedron. A 24-position calibration scheme is designed to identify accelerome-ter-related errors, while a 48-rotation scheme is developed to identify gyro-related er-rors. The complete calibration procedure enables simultaneous identification of hexa-hedron structure errors, installation misalignments, scale factor errors, and biases. Ex-perimental validation is conducted using a high-precision three-axis turntable, which simulates the hexahedron structure errors. The results show that the proposed method significantly improves the calibration accuracy of both accelerometers and HRGs compared with traditional methods. Furthermore, it reduces the accuracy require-ments for the hexahedron structure, thus lowering the cost of SINS on-field calibration.