Online Calibration Method of Gyro Constant Drift for Low-Cost Integrated Navigator

To improve the long-time navigation ability of the MEMS integrated navigator in the primary trainer aircraft, an online calibration method for the gyro constant drift based on the integrated navigation theory is proposed. The error equation of the inertial navigation system is taken as the core issue, while the position & velocity information is taken as the reference. Kalman filter is adopted for online calibration of the gyro constant drift. In order to improve the observability of the gyro constant drift in the filter, the maneuver mode of the aircraft is designed. The simulation test shows that the maximum relative error of the estimation result of the gyro constant drift is less than 6.8%, which can satisfy the need of application.