With the rapid development of inertial technology, the rotational inertial system has been widely used for high-accuracy\nnavigation. In addition, the single-axis rotational inertial navigation system is one of the most popular navigation systems due\nto its low cost. However, the fact which cannot be ignored is that although single axis rotational inertial navigation system can\nrestrain divergence of attitude error, it cannot eliminate velocity error, which is mainly caused by the gyro misalignment and\nscale factor error related to rotational axis. A novel calibration method established on filter has been proposed. Position,\nvelocity, and attitude are chosen to be the state variables. In order to estimate the gyro errors related to rotational axis, these\nerrors must be included in the state equation. Correspondingly, zero velocity and rate of turntable are chosen to be measured.\nSimulation has been carried out to verify the correctness of the theory, and the real test has been performed to further\ndemonstrate the validity of the method. By compensating the main error estimated by filter, it can be found that the accumulated\nerrors in velocity and attitude are decreased. So, the precision of navigation is greatly improved with the\nproposed method.
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