Traditional calibration method is usually performed with expensive equipments such\nas three-axis turntable in a laboratory environment. However in practice, in order to ensure the\naccuracy and stability of the inertial navigation system (INS), it is usually necessary to recalibrate\nthe inertial measurement unit (IMU) without external equipment in the field. In this paper, a\nnew in-field recalibration method for triaxial accelerometer based on beetle swarm antenna search\n(BSAS) algorithm is proposed. Firstly, as a new intelligent optimization algorithm, BSAS algorithm\nand its improvements based on basic beetle antennae search (BAS) algorithm are introduced in\ndetail. Secondly, the nonlinear mathematical model of triaxial accelerometer is established for\nhigher calibration accuracy, and then 24 optimal measurement positions are designed by theoretical\nanalysis. In addition, the calibration procedures are improved according to the characteristics of BSAS\nalgorithm, then 15 calibration parameters in the nonlinear method are optimized by BSAS algorithm.\nBesides, the results of BSAS algorithm and basic BAS algorithm are compared by simulation, which\nshows the priority of BSAS algorithm in calibration field. Finally, two experiments demonstrate that\nthe proposed method can achieve high precision in-field calibration without any external equipment,\nand meet the accuracy requirements of the INS.
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