Modeling and Calibration for Dithering of MDRLG and Time-Delay of Accelerometer in SINS

At present, the design and manufacturing technology of mechanically dithered ring laser gyroscope (MDRLG) have matured, the strapdown inertial navigation systems (SINS) with MDRLG have been widely used in military and business scope. When the MDRLG is working, high-frequency dithering is introduced, which will cause the size effect error of the accelerometer. The accelerometer signal has a time delay relative to the system, which will cause the accelerometer time delay error. In this article, in order to solve the above-mentioned problem: (1) we model the size effect error of the mechanically dithering of the MDRLG and perform an error analysis for the size effect error of the mechanically dithering of the MDRLG; (2) we model the time delay error of accelerometer and perform an error analysis for the time delay error of accelerometer; (3) we derive a continuous linear 43-D SINS error model considering the above-mentioned two error parameters and expand the temperature coefficients of accelerometers, inner lever arm error, outer lever arm error parameters to achieve high-precision calibration of SINS. We use the piecewise linear constant system (PWCS) method during the calibration process to prove that all calibration parameters are observable. Finally, the SINS with MDRLG is used in laboratory conditions to test the validity of the calibration method.