© The Institution of Engineering and Technology
In view of the importance of rotation scheme for parameter estimation in continuous selfcalibration of the inertial platform, a design method based on sensitivity analysis is proposed. The error models of continuous selfcalibration are given firstly, which are timevarying and nonlinear. Liederivative is employed to analyse the global observability of models to ensure the system is observable. For the fast convergence of filter and decreasing calibration time, the observability of each parameter in error models is considered, which is represented by output sensitivity of each parameter. Based on the principle of maximum output sensitivity, the design of optimal rotation schemes for each parameter is converted to an ergodic optimisation problem. Then the global optimal rotation scheme is obtained by combining all the optimal rotations of each parameter, which can generate a suitable input for continuous selfcalibration and excite all the parameters efficiently. Finally, the proposed approach is demonstrated by an illustrative example. The results show that the rotation scheme designed by the proposed method can excite all the parameters efficiently with high calibration precision and convenient operation.
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