Calibration and compensation method on installation errors of accelerometer in GFSINS constituted of 3-axis accelerometer

To process the installation error of accelerometers in gyroscope-free strap-down inertial navigation system(GFSINS) constituted with four 3-axis accelerometers,according to the relationship between space vectors and the coordinate,a position error calibration method which is based on the invariance of vector moduli and another calibration method for sensitive direction error which is based on coordinate rotation transform matrix are designed.And the position error is calibrated firstly and the sensitive direction error to follow with the same turntable experiment data.Contrarily,the sensitive direction error is compensated in front of the position error.The details of calibration and compensation algorithms are shown and also these two algorithms are proved to be feasible by a trajectory simulation.