The error parameter of inertia instrument in inertia measurement device may change with working time

which cause the measurement precision is decreased and the error of SINS is accumulated.According to this

in order to improve navigation precision of SINS

a dynamical calibration method based on GPS’s velocity and position information for error parameters is put forward.Sage-husa adaptive Kalman filter is used to get the best navigation state

and then

this state is used to calibrate the error parameters of inertial measurement device.The simulation indicates that the error calibration can calibrate the error and improve the precision of the inertial navigation system.