Reset technique based on velocity reference and one-point position

After long time independent navigation by INS(inertial navigation system), the velocity and position errors will divergence due to the const gyro drift error. In order to suppress this error, a const gyro drift error model based on velocity and one-point position error is built. First, a Kalman filter based on velocity error model is adopted to identify and compensate the const gyro drift error and the platform's error angles. After compensation, one-point position error is used to correct the above parameters and give ten essential parameters. Simulations are made for the space-stable INS, and the results show that, when we only utilize the velocity error information and with 10 Hz sampling frequency, the identification accuracy of const gyro drift error parameters for polar axis gyro can reach 5.8% after six hours' simulation. But this method cannot identify const gyro drift error caused by equatorial gyro, which would bring out error divergence of longitude, so one-point position information is used to correct the const gyro drift error. Experimental result shows that velocity and position accuracy improve 58.2% and 70.0% after reset by the proposed method.