TABLE OF CONTENTS Inertial sensors, whose models were described in Chapter 6, form the basis of inertial navigation systems. The sensors are mechanization into orthogonal triad clusters, one each for accelerometers and gyros. The availability of accelerations and rates from this configuration was assumed for navigation equations developed in Chapter 5. Before the inertial navigation system's operational use, its accelerometers and gyros are initially calibrated in the laboratory (factory) to remove repeatable errors that are the result of manufacturing imperfections and determine the temperature sensitivity of those errors. After laboratory calibration, remaining errors (constant errors that are difficult to model effectively, additional temperature variations, etc.) should be small.
Presented in this chapter is a technique that parallels that presented by Diesel [10] to calibrate strap-down inertial sensor errors in a laboratory setting. This is the first application of the elements in Part 1 and proceeds as follows:
navigation mechanization review.
sensor error model.
solutions for sensor errors.
data collection rotation sequences.
observation equations.
processing sequences.
