SINS field calibration based on BDII differential positioning

In order to solve the problem that datum points is required during inertial navigation system calibration under wild field conditions. A novel method for calibration is proposed based on satellite positioning differentiation. In this method, the antenna installation error, angular misalignment and installation errors and other inertial devices error are categorized as remaining nonalignment angle. Firstly, the system error is calibrated coarsely using location datum provided by BDII attitude measurement system. In precision calibration stage, high precision position information is provided by satellite differential system, the error calibration is completed, and multiple sets of the difference between new method results and traditional factory calibration results are within 0.3 mil. Therefore higher accuracy is achieved. This method not only avoids reliance on the fixed datum point, but also prevents the system from tedious process of filtering and eliminates the known external information. The accuracy of long navigation is verified, and the real-time of calibration is improved.