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The gyroscope, accelerometer and angular encoder are the most important components in a dual-axis rotation inertial navigation system (RINS). However, there are asynchronies among the sensors, which will thus lead to navigation errors. The impact of asynchrony between the gyroscope and angular encoder on the azimuth error and the impact of asynchrony between the gyroscope and accelerometer on the velocity error are analyzed in this paper. A self-calibration method based on navigation errors is proposed based on the analysis above. Experiments show that azimuth and velocity accuracy can be improved by compensating the asynchronies.

Analysis and Self-Calibration Method for Asynchrony between Sensors in Rotation INS