Error Mechanism and Self-Calibration of Single-Axis Rotational Inertial Navigation System

Table 6

Pure navigation results in experiment.

Parameter	Theory value	Before compensation	After compensation
Vx (m/s)	0	4.9222	0.2950
Vy (m/s)	0	−1.9773	0.5888
Vz (m/x)	0	0	0
Pitch (deg)	0.0456	0.0043	0.0467
Roll (deg)	0.0279	−0.0758	−0.0455
Yaw (deg)	0.0197	0.8809	0.0968