LAUSR

Rotational inertial navigation system (RINS) could improve the navigation performance by rotating the IMU around gimbals, and the structure and function of the dual-axis RINS also help realize the process of self-calibration. However, the gyro–accelerometer asynchronous time is not considered in current studies. Coupled into the navigation error, the gyro–accelerometer asynchronous time can lead to velocity accuracy decline during the process of rotation. Therefore, the modeling and calibration of the gyro–accelerometer asynchronous time would enhance the systemic reliability. In this article, in order to solve the abovementioned problem: 1) we model the gyro–accelerometer asynchronous time and perform an error analysis of gyro–accelerometer asynchronous time; 2) we propose a compensation method of the outer lever arm to improve the accuracy of the observed velocity and position; and 3) we derive a continuous linear 40-D RINS error model considering the abovementioned two error parameters compared with the traditional method, the PWCS method, and the SVD method is utilized to provide the observability degrees of the proposed state during the self-calibration process. Experimental results illustrated that the proposed method can improve the accuracy in the long-endurance navigation.