PT  - JOURNAL ARTICLE
AU  - Cui, Jiarui
AU  - Wu, Wenqi
AU  - Ma, Tiefeng
AU  - Wang,, Maosong
AU  - Ji, Chengjun
TI  - A Novel Co-Calibration Method for a Dual Heterogeneous Redundant Marine INS
AID  - 10.33012/navi.620
DP  - 2023 Dec 21
TA  - NAVIGATION: Journal of the Institute of Navigation
PG  - navi.620
VI  - 70
IP  - 4
4099  - https://navi.ion.org/content/70/4/navi.620.short
4100  - https://navi.ion.org/content/70/4/navi.620.full
SO  - NAVIGATION2023 Dec 21; 70
AB  - This paper focuses on a heterogeneous redundant inertial navigation system (INS) that consists of one three-axis rotation-modulation fiber optic gyroscope (FOG) INS and one strapdown ring laser gyroscope (RLG) INS. A novel co-calibration method is proposed to estimate the FOG scale factor instability and RLG bias instability error in real time, in which the geometric constraints of the FOG-INS rotating axis are deployed to establish the observation equation without external reference information. In addition, the proposed method has a global navigation capability, which is achieved by using the normal vector of the earth ellipsoid and the state transformation extended Kalman filter to predict positioning errors. An output position error compensation method is used without disturbing the original INSs. Simulation and physical experiment results show that the positioning error of the heterogeneous redundant marine INS is reduced by more than 30% over 300 h of navigation.