{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,24]],"date-time":"2026-03-24T10:44:26Z","timestamp":1774349066320,"version":"3.50.1"},"reference-count":27,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2018,4,24]],"date-time":"2018-04-24T00:00:00Z","timestamp":1524528000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The navigation accuracy of the inertial navigation system (INS) can be greatly improved when the inertial measurement unit (IMU) is effectively calibrated and compensated, such as gyro drifts and accelerometer biases. To reduce the requirement for turntable precision in the classical calibration method, a continuous dynamic self-calibration method based on a three-axis rotating frame for the hybrid inertial navigation system is presented. First, by selecting a suitable IMU frame, the error models of accelerometers and gyros are established. Then, by taking the navigation errors during rolling as the observations, the overall twenty-one error parameters of hybrid inertial navigation system (HINS) are identified based on the calculation of the intermediate parameter. The actual experiment verifies that the method can identify all error parameters of HINS and this method has equivalent accuracy to the classical calibration on a high-precision turntable. In addition, this method is rapid, simple and feasible.<\/jats:p>","DOI":"10.3390\/s18051303","type":"journal-article","created":{"date-parts":[[2018,4,24]],"date-time":"2018-04-24T04:44:48Z","timestamp":1524545088000},"page":"1303","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":27,"title":["An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition"],"prefix":"10.3390","volume":"18","author":[{"given":"Bingqi","family":"Liu","sequence":"first","affiliation":[{"name":"High-Tech Institute of Xi\u2019an, Xi\u2019an 710025, China"},{"name":"The Science and Technology on Inertial Laboratory, School of Instrumentation Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shihui","family":"Wei","sequence":"additional","affiliation":[{"name":"The Science and Technology on Inertial Laboratory, School of Instrumentation Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guohua","family":"Su","sequence":"additional","affiliation":[{"name":"The Science and Technology on Inertial Laboratory, School of Instrumentation Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiping","family":"Wang","sequence":"additional","affiliation":[{"name":"The Science and Technology on Inertial Laboratory, School of Instrumentation Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiazhen","family":"Lu","sequence":"additional","affiliation":[{"name":"The Science and Technology on Inertial Laboratory, School of Instrumentation Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,4,24]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"33","DOI":"10.1109\/MAES.2005.1499250","article-title":"Strapdown Inertial Navigation Technology","volume":"20","author":"David","year":"2005","journal-title":"IEEE Aerosp. 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