CN107655493A - A kind of position system level scaling methods of optical fibre gyro SINS six - Google Patents

Abstract

The invention discloses a six-position system-level calibration method for fiber optic gyroscope SINS. By analyzing the error propagation law of the inertial component, the six-position rotation of the turntable is designed, and the system speed error and attitude error are obtained through calculation. The item error is filtered and estimated. The beneficial effects of the present invention are: based on the system level method, the zero error, scale factor error, installation error of the fiber optic gyroscope and the zero error, scale factor error and installation error of the accelerometer can be accurately calibrated; the present invention provides the most Simple position arrangement, and the reason for the calibration position arrangement is given at the same time. The calibration principle is clear and can be calibrated at one time.

Description

A six-position system-level calibration method for fiber optic gyroscope SINS

technical field

The invention relates to the technical field of calibration, in particular to a six-position system-level calibration method for an optical fiber gyro SINS.

Background technique

The strapdown inertial navigation system is a navigation device that uses gyroscopes and accelerometers to measure the angular motion and linear motion of the carrier, and obtains the instantaneous attitude, velocity and position of the carrier through integral calculations. It completely relies on its own inertial components to complete navigation tasks without relying on Any external information is a completely autonomous navigation system. Strapdown inertial navigation system is widely used in the field of national defense technology due to its advantages of high autonomy, good concealment, all-weather, good stability and high short-term accuracy. The feature of the strapdown inertial navigation system is to use a mathematical platform to replace the physical platform of the platform inertial navigation to simulate the navigation coordinate system. Since it is essentially a dead reckoning system, its error will accumulate with time.

According to the principle of strapdown inertial navigation, its key technologies include inertial instrument technology, inertial component error compensation technology, initial alignment technology and strapdown matrix update algorithm. Inertial component errors account for about 90% of system errors, and the method of inertial component error compensation technology is calibration. The purpose of calibration is to determine the error of the inertial component and compensate the calibration error into the inertial component to improve the navigation accuracy of the system. At present, the fiber optic gyroscope calibration methods used are mainly discrete calibration and system-level calibration. Discrete calibration generally relies on high-precision turntables to provide position and velocity references; system-level calibration mainly derives various parameters in the error model by observing navigation errors. This method is based on navigation calculation and requires very low accuracy of the turntable, but the principle of this method is complex, and generally the calibration time is long.

Fiber optic gyroscope is a kind of optical gyroscope, which is a sensor for detecting angular velocity. The fiber optic gyroscope adopts the Sagnac interference principle, uses optical fiber to form a circular optical path and detects the phase difference between the two laser beams that rotate in anti-phase with the rotation, and then calculates the angular velocity of the rotation. Fiber optic gyroscopes are essentially different from traditional mechanical gyroscopes in principle, and have incomparable advantages over mechanical gyroscopes. They have been widely used in the fields of inertial guidance and navigation.

Contents of the invention

The technical problem to be solved by the present invention is to provide a SINS six-position system-level calibration method for an optical fiber gyroscope, which can accurately calibrate various errors of the optical fiber gyroscope, has a clear calibration principle, and can be calibrated at one time.

In order to solve the above-mentioned technical problems, the present invention provides a six-position system-level calibration method for fiber optic gyroscope SINS, comprising the following steps:

(1) Install the inertial component on the turntable, and the initial orientation of the inertial component is east-north-sky; the inertial component is powered on and preheated, and the sampling period is set;

(2) Start to collect inertial component data and establish an inertial component error model and a strapdown inertial navigation system error model;

(3) Let the inertial component stand still at the initial position set in step (1) for 1 minute for static navigation, and then make the inertial component rotate 180° around the X axis at an angular velocity of 10°/, so that the orientation of the inertial component is East-south-land, and stand still for 1 minute for static navigation;

(4) Make the inertial component rotate 90° positively around the X-axis, make the orientation of the inertial component east-earth-north, and stand still for 1 minute for static navigation, and then the inertial component positively rotates around the Z-axis at an angular velocity of 10°/ Rotate 180° to make the orientation of the inertial assembly west-sky-north, and stand still for 1 minute for static navigation;

(5) Make the inertial component rotate 90° positively around the Z axis, make the orientation of the inertial component be sky-east-north, and stand still for 1 minute for static navigation, and then the inertial component rotates positively around the Y-axis at an angular velocity of 10°/ Rotate 180° to make the orientation of the inertial components ground-east-south, and stand still for 1 minute for static navigation, and stop data collection;

(6) Perform off-line navigation calculation on the data collected by the inertial component, and calculate the system speed error and attitude error;

(7) Design a Kalman filter to filter and estimate the inertial component error;

(8) Repeat step (1) to step (5), and replace different rotational angular velocities with each repeated execution; carry out navigation solution and Kalman filter estimation on the data obtained from each repeated execution, and calculate the obtained The error results of the inertial components under different angular velocities are averaged as the final result.

Preferably, in step (1), the sampling period is T=0.005s.

Preferably, in step (2), the establishment of the inertial component error model is specifically: the installation error, scale coefficient error and constant value drift of the fiber optic gyroscope are built into the gyroscope error model to obtain:

In the formula, n is the navigation coordinate system; b is the carrier coordinate system; i is the inertial coordinate system; ε ^b is the constant drift in the carrier coordinate system; is the transformation matrix from the carrier coordinate system to the navigation coordinate system; is the output of the gyro; [δK _G ] is the scale factor error of the gyro, [δG] is the installation error,

The installation error, scale coefficient error and constant value drift of the accelerometer are built into the accelerometer error model to get:

In the formula, is the constant value drift in the carrier coordinate system; f ^b is the output of the accelerometer; [δK _A ] is the scale coefficient error of the accelerometer, [δA] is the installation error,

The attitude error equation is established as:

In the formula, φ is the attitude error angle vector; is the projection of the angular velocity of the navigation coordinate system relative to the inertial coordinate system under the navigation coordinate system; Calculate the error for the rotational angular velocity of the navigation coordinate system relative to the inertial coordinate system; is the projection of the gyroscope error in the navigation coordinate system;

The velocity error equation is established as:

In the formula, φ ⁿ is the attitude error angle in the navigation coordinate system; f ⁿ is the output of the accelerometer in the navigation coordinate system; is the projection of the accelerometer error in the navigation coordinate system; δV ⁿ =[δV _E δV _N δV _U ] ^T is the eastward, northward and celestial speed error; The projection of the angular velocity following the rotation of the earth in the navigation coordinate system; The projection of the rotational angular velocity relative to the earth due to the movement of the carrier under the navigation coordinate system; V ⁿ = [V _E V _N V _U ] ^T is the eastward, northward, and skyward velocity; with for the corresponding error.

Preferably, in step (3), let the inertial component stand still for 1 minute at the initial position set in step (1) for static navigation calculation, and then make the inertial component rotate positively around the X-axis at an angular velocity of 10°/s 180°, so that the orientation of the inertial components is east-south-ground, and stand still for 1 minute for static navigation. The details are:

Under the turntable condition, the attitude error equation omits The expression of ; the attitude error equation caused only by the gyro error can be written as follows:

The velocity error equation due only to accelerometer error can be written as follows:

In the east-north-day orientation:

expands to:

The velocity error equation due to the accelerometer:

expands to:

Rotate around the X axis, the rotation angle is 180°, the rotation speed ω used in calibration is about 10°/s, ω is much larger than the earth rotation component ω _ie (15°/h) and the gyro zero bias, so the earth rotation component and the gyro zero The bias can be ignored, ω _x ≈ ω, ω _y ≈ 0, ω _z ≈ 0, then:

expands to:

Integrating the above equations, we get:

After rotation, in the east-south-land orientation:

The velocity error equation due to the accelerometer:

expands to:

The accelerometer-related excitation error term is resolved from the velocity errors at the two locations in this step.

Preferably, in step (4), the inertial component is positively rotated 90° around the X axis, so that the orientation of the inertial component is east-ground-north, and it is left to stand for 1 minute for static navigation, and then the inertial component is rotated at 10°/ The angular velocity of s rotates 180° positively around the Z axis, so that the orientation of the inertial components is west-sky-north, and it is left to stand for 1 minute for static navigation. The details are:

In the east-earth-north orientation:

expands to:

Rotate around the Z axis, the rotation angle is 180°, ω _x ≈ 0, ω _y ≈ 0, ω _z ≈ ω, then:

expands to:

Integrating the above equations, we get:

After rotation, in the west-sky-north orientation:

The velocity error equation due to the accelerometer:

expands to:

According to the speed error at the two positions in this step, the accelerometer-related excitation error term can be obtained analytically.

Preferably, in step (5), the inertial component is positively rotated 90° around the Z axis, so that the orientation of the inertial component is sky-east-north, and it is left to stand for 1 minute for static navigation, and then the inertial component is rotated at 10°/ The angular velocity of s rotates 180° positively around the Y axis, so that the orientation of the inertial components is ground-east-south, and it is left to stand for 1 minute for static navigation. The details of stopping data collection are:

In the sky-east-north orientation:

expands to:

Rotate around the Y axis, the rotation angle is 180°, ω _x ≈ 0, ω _y ≈ ω, ω _z ≈ 0, then:

expands to:

Integrating the above equations, we get:

After rotation, in the ground-east-south orientation:

The velocity error equation due to the accelerometer:

expands to:

According to the speed error at the two positions in this step, the accelerometer-related excitation error term can be obtained analytically.

Preferably, in step (6), the offline navigation solution is performed on the data collected by the inertial components, and the system velocity error and attitude error are calculated specifically as follows; The angular velocity and specific force are projected on the carrier system; after that, through coordinate system conversion, the angular velocity and specific force of the carrier are projected on the navigation coordinate system, and after one integration, the instantaneous attitude angle and linear velocity of the carrier relative to the navigation coordinate system can be obtained; The true value of the attitude angle can be provided by the turntable, and the true value of the velocity is set to 0.

Preferably, in step (7), designing a Kalman filter to filter and estimate the inertial component error is specifically:

Establish the fiber optic gyroscope system-level calibration Kalman filter state equation:

In the formula,

A ₁ =[A ₁₁ A ₁₂ A ₁₃ A ₁₄ ]

In the formula, is the random disturbance generated by the gyroscope; T _ij (i,j=1,2,3) is the attitude matrix corresponding element.

Create the corresponding measurement equation:

Z ₁ (t)=H ₁ X ₁ (t)+V(t)

In the formula,

In the formula, θ _I , γ _I , and ψ _I are the pitch angle, roll angle, and heading angle information obtained from the navigation solution; θ _z , γ _Z , and ψ _Z are the true attitude values of the turntable; is the error between the navigation solution and the true value of the turntable; V(t) is the system measurement noise;

Establish the accelerometer system-level calibration Kalman filter state equation:

In the formula,

A ₂ =[A ₂₁ A ₂₂ A ₂₃ A ₂₄ ]

In the formula, is the random disturbance generated by the accelerometer; T _ij (i,j=1,2,3) is the attitude matrix corresponding element;

Create the corresponding measurement equation:

Z ₂ (t)=V ⁿ (t)-0=H ₂ X ₂ (t)+V(t)

In the formula,

Z ₂ (t)＝[δV _E δV _N δV _U ] ^T

In the formula, δV _E , δV _N , and δV _U are the errors between the navigation solution and the true value; V(t) is the system measurement noise; a 24-dimensional Kalman filter is established based on the system error model in step (3), Calibrate the various errors of the inertial components; use the principle of the Kalman filter to estimate the various error parameters in the state quantity, and complete the identification of the various error parameters of the inertial components.

Preferably, in step (8), the value range of the rotational angular velocity is 10°/-30°/.

The beneficial effects of the present invention are: based on the system level method, the zero error, scale factor error, installation error of the fiber optic gyroscope and the zero error, scale factor error and installation error of the accelerometer can be accurately calibrated; the present invention provides the most Simple position arrangement, and the reason for the calibration position arrangement is given at the same time. The calibration principle is clear and can be calibrated at one time.

Description of drawings

Fig. 1 is a schematic diagram of the layout of the rotation path of the turntable in the calibration method of the present invention.

Detailed ways

As shown in Figure 1, the schematic diagram of the rotary path arrangement of the turntable, the present invention calculates the system speed error by designing the six-position rotation of the turntable, and estimates the error parameters of the inertial components through the Kalman filter. In order to ensure the accuracy of the final calibration result, the turntable repeats Perform six-position rotation three times, and average the inertial component errors obtained from the three calculations as the final calibration result. The specific calibration method is as follows:

Step 1: Install the inertial components on the turntable, the initial orientation of the inertial components is east-north-sky; power on the inertial components to preheat, and set the sampling period;

Step 2: Start to collect inertial component data and establish an inertial component error model and a strapdown inertial navigation system error model;

The installation error, scale coefficient error and constant value drift of the fiber optic gyroscope are built into the gyroscope error model, and we get:

In the formula, n is the navigation coordinate system; b is the carrier coordinate system; i is the inertial coordinate system; ε ^b is the constant drift in the carrier coordinate system; is the transformation matrix from the carrier coordinate system to the navigation coordinate system; is the output of the gyro; [δK _G ] is the scale factor error of the gyro, [δG] is the installation error,

The installation error, scale coefficient error and constant value drift of the accelerometer are built into the accelerometer error model to get:

In the formula, is the constant value drift in the carrier coordinate system; f ^b is the output of the accelerometer; [δK _A ] is the scale coefficient error of the accelerometer, [δA] is the installation error,

The attitude error equation is established as:

In the formula, φ is the attitude error angle vector; is the projection of the angular velocity of the navigation coordinate system relative to the inertial coordinate system under the navigation coordinate system; Calculate the error for the rotational angular velocity of the navigation coordinate system relative to the inertial coordinate system; is the projection of the gyroscope error in the navigation coordinate system;

The velocity error equation is established as:

In the formula, φ ⁿ is the attitude error angle in the navigation coordinate system; f ⁿ is the output of the accelerometer in the navigation coordinate system; is the projection of the accelerometer error in the navigation coordinate system; δV ⁿ =[δV _E δV _N δV _U ] ^T is the eastward, northward and celestial speed error; The projection of the angular velocity following the rotation of the earth in the navigation coordinate system; The projection of the rotational angular velocity relative to the earth due to the movement of the carrier under the navigation coordinate system; V ⁿ = [V _E V _N V _U ] ^T is the eastward, northward, and skyward velocity; with is the corresponding error;

Since only the turntable condition is considered, the precise geographic location information of the strapdown inertial navigation system is known at this time, so we only need to calculate the attitude loop, and do not need to calculate the velocity and position loops, and the attitude calculation error Only related to gyro error. At the same time, since the turntable can provide accurate attitude information, the involved acceleration can be ignored when considering the velocity error equation.

Step 3: Let the inertial component stand still at the initial position set in step 1 for 1 minute for static navigation calculation, and then make the inertial component rotate 180° around the X axis at an angular velocity of 10°/, so that the orientation of the inertial component is East-south-land, and stand still for 1 minute for static navigation;

Since it is under the condition of the turntable, for the convenience of analysis, the attitude error equation is omitted representation.

The attitude error equation caused only by gyro error can be written as follows:

The velocity error equation due only to accelerometer error can be written as follows:

In the east-north-day orientation:

expands to:

The velocity error equation due to the accelerometer:

expands to:

Rotate around the X axis, the rotation angle is 180°, the rotation speed ω used in calibration is about 10°/, ω is much larger than the earth rotation component ω _ie (15°/h) and the gyro zero bias, so the earth rotation component and the gyro zero bias Can be ignored, ω _x ≈ ω, ω _y ≈ 0, ω _z ≈ 0, then:

expands to:

Integrating the above equations, we get:

After rotation, in the east-south-land orientation:

The velocity error equation due to the accelerometer:

expands to:

According to the speed error at the two positions in this step, the accelerometer-related excitation error term can be obtained analytically.

Step 4: Make the inertial component rotate 90° positively around the X-axis, make the orientation of the inertial component east-earth-north, and stand still for 1 minute for static navigation, and then the inertial component positively rotates around the Z-axis at an angular velocity of 10°/ Rotate 180° to make the orientation of the inertial assembly west-sky-north, and stand still for 1 minute for static navigation;

In the east-earth-north orientation:

expands to:

Rotate around the Z axis, the rotation angle is 180°, ω _x ≈ 0, ω _y ≈ 0, ω _z ≈ ω, then:

expands to:

Integrating the above equations, we get:

After rotation, in the west-sky-north orientation:

The velocity error equation due to the accelerometer:

expands to:

According to the speed error at the two positions in this step, the accelerometer-related excitation error term can be obtained analytically.

Step 5: Make the inertial component rotate 90° positively around the Z axis, make the orientation of the inertial component sky-east-north, and stand still for 1 minute for static navigation, and then the inertial component rotates positively around the Y-axis at an angular velocity of 10°/ Rotate 180° to make the orientation of the inertial components earth-east-south, and stand still for 1 minute for static navigation, and stop data collection.

In the sky-east-north orientation:

expands to:

Rotate around the Y axis, the rotation angle is 180°, ω _x ≈ 0, ω _y ≈ ω, ω _z ≈ 0, then:

expands to:

Integrating the above equations, we get:

After rotation, in the ground-east-south orientation:

The velocity error equation due to the accelerometer:

expands to:

According to the speed error at the two positions in this step, the accelerometer-related excitation error term can be obtained analytically.

Step 6: Perform offline navigation calculation on the data collected by the inertial component, and calculate the system speed error and attitude error;

First, the angular velocity and specific force relative to the inertial coordinate system measured by the gyroscope and the accelerometer in the above steps are projected on the carrier body. Afterwards, after coordinate system conversion, the angular velocity and specific force of the carrier are projected on the navigation coordinate system, and after one integration, the instantaneous attitude angle and linear velocity of the carrier relative to the navigation coordinate system can be obtained. The true value of the attitude angle can be provided by the turntable, and the true value of the speed is set to 0.

Step 7: Design a Kalman filter to filter and estimate the inertial component error;

Establish the fiber optic gyroscope system-level calibration Kalman filter state equation:

In the formula,

A ₁ =[A ₁₁ A ₁₂ A ₁₃ A ₁₄ ]

In the formula, is the random disturbance generated by the gyroscope; T _ij (i,j=1,2,3) is the attitude matrix corresponding element.

Create the corresponding measurement equation:

Z ₁ (t)=H ₁ X ₁ (t)+V(t)

In the formula,

In the formula, θ _i , γ _I , and ψ _I are the pitch angle, roll angle, and heading angle information obtained from the navigation solution respectively; θ _z , γ _z , and ψ _Z are the true attitude values of the turntable; is the error between the navigation solution and the true value of the turntable; V(t) is the system measurement noise.

Establish the accelerometer system-level calibration Kalman filter state equation:

In the formula,

A ₂ =[A ₂₁ A ₂₂ A ₂₃ A ₂₄ ]

In the formula, is the random disturbance generated by the accelerometer; T _ij (i,j=1,2,3) is the attitude matrix corresponding element.

Create the corresponding measurement equation:

Z ₂ (t)=V ⁿ (t)-0=H ₂ X ₂ (t)+V(t)

In the formula,

Z ₂ (t)＝[δV _E δV _N δV _U ] ^T

In the formula, δV _E , δV _N , and δV _U are the errors between the navigation solution and the true value; V(t) is the system measurement noise.

Establish a 24-dimensional Kalman filter with the system error model in step 3, and calibrate the errors of the inertial components

Using the principle of Kalman filter, the error parameters in the state quantity are estimated, and the identification of the error parameters of the inertial components is completed.

Step 8: Repeat step 1 to step 5, and change the rotational angular velocity for each repetition; perform navigation calculation and Kalman filter estimation on the data collected by each repetition, the method is the same as step 6 and step 7 ; Take the average of the calculated inertial component error results under different angular velocities as the final result.

Although the present invention has been illustrated and described in terms of preferred embodiments, those skilled in the art should understand that various changes and modifications can be made to the present invention without departing from the scope defined by the claims of the present invention.

Claims (9)

1. a kind of optical fiber gyroscope SINS six position system level calibration method is characterized in that, comprises the steps: (1) Install the inertial component on the turntable, and the initial orientation of the inertial component is east-north-sky; the inertial component is powered on and preheated, and the sampling period is set; (2) Start to collect inertial component data and establish an inertial component error model and a strapdown inertial navigation system error model; (3) Let the inertial component stand still for 1 minute at the initial position set in step (1) for static navigation, then make the inertial component rotate 180° around the X axis at an angular velocity of 10°/, so that the orientation of the inertial component is East-south-land, and stand still for 1 minute for static navigation; (4) Make the inertial component rotate 90° positively around the X axis, make the orientation of the inertial component east-earth-north, and stand still for 1 minute for static navigation, and then the inertial component positively rotates around the Z axis at an angular velocity of 10°/ Rotate 180° to make the orientation of the inertial assembly west-sky-north, and stand still for 1 minute for static navigation; (5) Make the inertial component rotate 90° positively around the Z axis, make the orientation of the inertial component sky-east-north, and stand still for 1 minute for static navigation, and then the inertial component positively rotates around the Y-axis at an angular velocity of 10°/ Rotate 180° to make the orientation of the inertial components ground-east-south, and stand still for 1 minute for static navigation, and stop data collection; (6) Perform off-line navigation calculations on the data collected by the inertial components, and calculate the system speed error and attitude error; (7) Design a Kalman filter to filter and estimate the inertial component error; (8) Repeat step (1) to step (5), and replace different rotational angular velocities with each repeated execution; carry out navigation solution and Kalman filter estimation on the data obtained from each repeated execution, and calculate the obtained The error results of the inertial components under different angular velocities are averaged as the final result. 2. The method for calibrating the fiber optic gyroscope SINS six-position system level as claimed in claim 1, characterized in that, in step (1), the sampling period is T=0.005s. 3. the fiber optic gyroscope SINS six-position system-level calibration method as claimed in claim 1, is characterized in that, in step (2), setting up the inertial component error model is specifically: the installation error, scale factor error and constant value of the fiber optic gyroscope The drift is built into the gyro error model, and we get: In the formula, n is the navigation coordinate system; b is the carrier coordinate system; i is the inertial coordinate system; ε ^b is the constant drift in the carrier coordinate system; is the transformation matrix from the carrier coordinate system to the navigation coordinate system; is the output of the gyro; [δK _G ] is the scale factor error of the gyro, [δG] is the installation error, The installation error, scale coefficient error and constant value drift of the accelerometer are built into the accelerometer error model to get: In the formula, is the constant value drift in the carrier coordinate system; f ^b is the output of the accelerometer; [δK _A ] is the scale coefficient error of the accelerometer, [δA] is the installation error, The attitude error equation is established as: In the formula, φ is the attitude error angle vector; is the projection of the angular velocity of the navigation coordinate system relative to the inertial coordinate system under the navigation coordinate system; Calculate the error for the rotational angular velocity of the navigation coordinate system relative to the inertial coordinate system; is the projection of the gyroscope error in the navigation coordinate system; The velocity error equation is established as: In the formula, φ ⁿ is the attitude error angle in the navigation coordinate system; f ⁿ is the output of the accelerometer in the navigation coordinate system; is the projection of the accelerometer error in the navigation coordinate system; δV ⁿ =[δV _E δV _N δV _U ] ^T is the eastward, northward and celestial speed error; The projection of the angular velocity following the rotation of the earth in the navigation coordinate system; The projection of the rotational angular velocity relative to the earth due to the movement of the carrier under the navigation coordinate system; V ⁿ = [V _E V _N V _U ] ^T is the eastward, northward, and skyward velocity; with for the corresponding error. 4. fiber optic gyroscope SINS six-position system-level calibration method as claimed in claim 1, is characterized in that, in step (3), the initial position that makes inertial component set in step (1) stand still 1 minute and carry out static navigation Solve the calculation, and then make the inertial component rotate 180° around the X-axis at an angular velocity of 10°/s, make the orientation of the inertial component east-south-ground, and stand still for 1 minute for static navigation. Specifically: Under the turntable condition, the attitude error equation omits The expression of ; the attitude error equation caused only by the gyro error can be written as follows: <mrow><mfenced open = "[" close = "]"><mtable><mtr><mtd><msub><mover><mi>&amp;phi;</mi><mo>&amp;CenterDot;</mo></mover><mi>E</mi></msub></mtd></mtr><mtr><mtd><msub><mover><mi>&amp;phi;</mi><mo>&amp;CenterDot;</mo></mover><mi>N</mi></msub></mtd></mtr><mtr><mtd><msub><mover><mi>&amp;phi;</mi><mo>&amp;CenterDot;</mo></mover><mi>U</mi></msub></mtd></mtr></mtable></mfenced><mo>=</mo><msubsup><mi>C</mi><mi>b</mi><mi>n</mi></msubsup><mrow><mo>(</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>G</mi>mi><mi>x</mi></mrow></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;G</mi><mi>z</mi></msub></mrow></mtd><mtd><mn>0</mn></mtd></mtr><mtr><mtd><mn>0</mn></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>G</mi><mi>y</mi></mrow></mrow></mtd>msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;G</mi><mi>x</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>&amp;delta;G</mi><mi>y</mi></msub></mrow></mtd><mtd><mn>0</mn></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>G</mi><mi>z</mi></mrow></msub></mrow></mtd></mtr></mtable></mfenced><mfenced open = "[" close = "]"><mtable><mtr><mtd><msub><mi>&amp;omega;</mi><mi>x</mi></msub></mtd></mtr><mtr><mtd><msub><mi>&amp;omega;</mi><mi>y</mi></msub></mi>mtd></mtr><mtr><mtd><msub><mi>&amp;omega;</mi><mi>z</mi></msub></mtd></mtr></mtable></mfenced><mo>+</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><msub><mi>&amp;epsiv;</mi><mi>x</mi></msub></mtd></mtr><mtr><mtd><msub><mi>&amp;epsiv;</mi><mi>y</mi></msub></mtd></mtr><mtr><mtd><msub><mi>&amp;epsiv;</mi><mi>z</mi></msub></mtd></mtr></mtable></mfenced><mo>)</mo></mrow></mrow> The velocity error equation due only to accelerometer error can be written as follows: <mrow><mfenced open = "[" close = "]"><mtable><mtr><mtd><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>E</mi></msub></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>N</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>U</mi></msub></mrow></mtd></mtr></mtable></mfenced><mo>=</mo><msubsup><mi>C</mi><mi>b</mi><mi>n</mi></msubsup><mrow><mo>(</mo><mfenced open = "[" close = "] "><mtable><mtr><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>x</mi></mrow></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;A</mi><mi>z</mi></msub></mrow></mtd><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>y</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>z</mi></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>y</mi></mrow></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;A</mi><mi>x</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>&amp;delta;G</mi><mi>y</mi></msub></mrow></mtd><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>x</mi></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>z</mi></mrow></msub></mrow></mtd></mtr></mtable></mfenced><mfenced open = "[" close = "]"><mtable><mtr><mtd><msub><mi>f</mi><mi>x</mi></msub></mtd></mtr><mtr><mtd><msub><mi>f</mi><mi>y</mi></msub></mtd></mtr><mtr><mtd><msub><mi>f</mi><mi>z</mi></msub></mtd></mtr></mtable></mfenced><mo>+</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>x</mi></msub></mtd></mtr><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>y</mi></msub></mtd></mtr><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>z</mi></msub></mtd></mtr></mtable></mfenced><mo>)</mo></mrow></mrow> In the east-north-day orientation: expands to: The velocity error equation due to the accelerometer: <mrow><mfenced open = "[" close = "]"><mtable><mtr><mtd><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>E</mi></msub></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>N</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>U</mi></msub></mrow></mtd></mtr></mtable></mfenced><mo>=</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mn>1</mn></mtd><mtd><mn>0</mn></mtd><mtd><mn>0</mn></mtd></mtr><mtr><mtd><mn>0</mn></mtd><mtd><mn>1</mn></mtd><mtd><mn>0</mn></mtd></mtr><mtr><mtd><mn>0</mn></mtd><mtd><mn>0</mn></mtd><mtd><mn>1</mn></mtd></mtr></mtable></mfenced><mrow><mo>(</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>x</mi></mrow></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;A</mi><mi>z</mi></msub></mrow></mtd><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>y</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>z</mi></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>y</mi></mrow></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;A</mi><mi>x</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>&amp;delta;G</mi><mi>y</mi></msub></mrow></mtd><mtd><mrow><mo>-</mo><msub><mi>&amp;;delta;A</mi><mi>x</mi></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>z</mi></mrow></msub></mrow></mtd></mtr></mtable></mfenced><mfenced open = "[" close = "]"><mtable><mtr><mtd><mn>0</mn></mtd></mtr><mtr><mtd><mn>0</mn></mtd></mtr><mtr><mtd><mi>g</mi></mtd></mtr></mtable></mfenced><mo>+</mo><mfenced open = "[ " close = "]"><mtable><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>x</mi></msub></mtd></mtr><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>y</mi></msub></mtd></mtr><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>z</mi></msub></mtd></mtr></mtable></mfenced><mo>)</mo></mrow></mrow> expands to: <mfenced open = "{" close = ""><mtable><mtr><mtd><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>E</mi></msub><mo>=</mo><mo>-</mo><mi>&amp;delta;</mi><msub><mi>A</mi><mi>y</mi></msub><mo>&amp;CenterDot;</mo><mi>g</mi><mo>+</mo><msub><mo>&amp;dtri;</mo><mi>x</mi></msub></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>N</mi></msub><mo>=</mo><msub><mi>&amp;delta;A</mi><mi>x</mi></msub><mo>&amp;CenterDot;</mo><mi>g</mi><mo>+</mo><msub><mo>&amp;dtri;</mo><mi>y</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>U</mi></msub><mo>=</mo><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>z</mi></mrow></msub><mo>&amp;CenterDot;</mo><mi>g</mi><mo>+</mo><msub><mo>&amp;dtri;</mo><mi>z</mi></msub></mrow></mtd></mtr></mtable></mfenced> Rotate around the X axis, the rotation angle is 180°, the rotation speed ω used in calibration is about 10°/s, ω is much larger than the earth rotation component ω _ie (15°/h) and the gyro zero bias, so the earth rotation component and the gyro zero The bias can be ignored, ω _x ≈ ω, ω _y ≈ 0, ω _z ≈ 0, then: expands to: Integrating the above equations, we get: After rotation, in the east-south-land orientation: The velocity error equation due to the accelerometer: <mrow><mfenced open = "[" close = "]"><mtable><mtr><mtd><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>E</mi></msub></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>N</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>U</mi></msub></mrow></mtd></mtr></mtable></mfenced><mo>=</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mn>1</mn></mtd><mtd><mn>0</mn></mtd><mtd><mn>0</mn></mtd></mtr><mtr><mtd><mn>0</mn></mtd><mtd><mrow><mo>-</mo><mn>1</mn></mrow></mtd><mtd><mn>0</mn></mtd></mtr><mtr><mtd><mn>0</mn></mtd><mtd><mn>0</mn></mtd><mtd><mrow><mo>-</mo><mn>1</mn></mrow></mtd></mtr></mtable></mfenced><mrow><mo>(</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>x</mi></mrow></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;A</mi><mi>z</mi></msub></mrow></mtd><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>y</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>z</mi></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>y</mi></mrow></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;A</mi><mi>x</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>&amp;delta;G</mi><mi>y</mi></msub></mrow></mtd><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>x</mi></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>z</mi></mrow></mrow></mtd>msub></mrow></mtd></mtr></mtable></mfenced><mfenced open = "[" close = "]"><mtable><mtr><mtd><mn>0</mn></mtd></mtr><mtr><mtd><mn>0</mn></mtd></mtr><mtr><mtd><mo>-</mo><mi>g</mi></mtd></mtr></mtable></mfenced><mo>+</mo><mfenced open = "[" close = "] "><mtable><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>x</mi></msub></mtd></mtr><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>y</mi></msub></mtd></mtr><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>z</mi></msub></mtd></mtr></mtable></mfenced><mo>)</mo></mrow></mrow> expands to: <mfenced open = "{" close = ""><mtable><mtr><mtd><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>E</mi></msub><mo>=</mo><mi>&amp;delta;</mi><msub><mi>A</mi><mi>y</mi></msub><mo>&amp;CenterDot;</mo><mi>g</mi><mo>+</mo><msub><mo>&amp;dtri;</mo><mi>x</mi></msub></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>N</mi></msub><mo>=</mo><msub><mi>&amp;delta;A</mi><mi>x</mi></msub><mo>&amp;CenterDot;</mo><mi>g</mi><mo>-</mo><msub><mo>&amp;dtri;</mo><mi>y</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>U</mi></msub><mo>=</mo><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>z</mi></mrow></msub><mo>&amp;CenterDot;</mo><mi>g</mi><mo>-</mo><msub><mo>&amp;dtri;</mo><mi>z</mi></msub></mrow></mtd></mtr></mtable></mfenced> The accelerometer-related excitation error term is resolved from the velocity errors at the two locations in this step. 5. The fiber optic gyroscope SINS six-position system-level calibration method as claimed in claim 1, wherein in step (4), the inertial assembly is rotated 90° in the positive direction around the X axis, so that the orientation of the inertial assembly is east-ground -North, and stand still for 1 minute for static navigation, then the inertial component rotates 180° around the Z axis at an angular velocity of 10°/s, so that the orientation of the inertial component is west-sky-north, and stand still for 1 minute Static navigation is specifically: In the east-earth-north orientation: <mrow><mfenced open = "[" close = "]"><mtable><mtr><mtd><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>E</mi></msub></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>N</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>U</mi></msub></mrow></mtd></mtr></mtable></mfenced><mo>=</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mn>1</mn></mtd><mtd><mn>0</mn></mtd><mtd><mn>0</mn></mtd></mtr><mtr><mtd><mn>0</mn></mtd><mtd><mn>0</mn></mtd><mtd><mrow><mo>-</mo><mn>1</mn></mrow></mtd></mtr><mtr><mtd><mn>0</mn></mtd><mtd><mn>1</mn></mtd><mtd><mn>0</mn></mtd></mtr></mtable></mfenced><mrow><mo>(</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>x</mi></mrow></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;A</mi><mi>z</mi></msub></mrow></mtd><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>y</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>z</mi></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>y</mi></mrow></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;A</mi><mi>x</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>&amp;delta;G</mi><mi>y</mi></msub></mrow></mtd><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>x</mi></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>z</mi></mrow></msub></mrow></mtd></mtr></mtable></mfenced><mfenced open = "[" close = "]"><mtable><mtr><mtd><mn>0</mn></mtd></mtr><mtr><mtd><mo>-</mo><mi>g</mi></mtd></mtr><mtr><mtd><mn>0</mn></mtd></mtr></mtable></mfenced><mo>+</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>x</mi></msub></mtd></mtr><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>y</mi></msub></mtd></mtr><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>z</mi></msub></mtd></mtr></mtable></mfenced><mo>)</mo></mrow></mrow> expands to: <mfenced open = "{" close = ""><mtable><mtr><mtd><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>E</mi></msub><mo>=</mo><mo>-</mo><mi>&amp;delta;</mi><msub><mi>A</mi><mi>z</mi></msub><mo>&amp;CenterDot;</mo><mi>g</mi><mo>+</mo><msub><mo>&amp;dtri;</mo><mi>x</mi></msub></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>N</mi></msub><mo>=</mo><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>x</mi></msub><mo>&amp;CenterDot;</mo><mi>g</mi><mo>-</mo><msub><mo>&amp;dtri;</mo><mi>y</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>U</mi></msub><mo>=</mo><mo>-</mo><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>y</mi></mrow></msub><mo>&amp;CenterDot;</mo><mi>g</mi><mo>+</mo><msub><mo>&amp;dtri;</mo><mi>z</mi></msub></mrow></mtd></mtr></mtable></mfenced> Rotate around the Z axis, the rotation angle is 180°, ω _x ≈ 0, ω _y ≈ 0, ω _z ≈ ω, then: expands to: Integrating the above equations, we get: After rotation, in the west-sky-north orientation: The velocity error equation due to the accelerometer: <mrow><mfenced open = "[" close = "]"><mtable><mtr><mtd><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>E</mi></msub></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>N</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>U</mi></msub></mrow></mtd></mtr></mtable></mfenced><mo>=</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mrow><mo>-</mo><mn>1</mn></mrow></mtd><mtd><mn>0</mn></mtd><mtd><mn>0</mn></mtd></mtr><mtr><mtd><mn>0</mn></mtd><mtd><mn>0</mn></mtd><mtd><mn>1</mn></mtd></mtr><mtr><mtd><mn>0</mn></mtd><mtd><mn>1</mn></mtd><mtd><mn>0</mn></mtd></mtr></mtable></mfenced><mrow><mo>(</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>x</mi></mrow></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;A</mi><mi>z</mi></msub></mrow></mtd><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>y</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>z</mi></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>y</mi></mrow></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;A</mi><mi>x</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>&amp;delta;G</mi><mi>y</mi></msub></mrow></mtd><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>x</mi></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>z</mi></mrow></msub></mrow></mtd></mtr></mtable></mfenced><mfenced open = "[" close = "]"><mtable><mtr><mtd><mn>0</mn></mtd></mtr><mtr><mtd><mi>g</mi></mtd></mtr><mtr><mtd><mn>0</mn></mtd></mtr></mtable></mfenced><mo>+</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>x</mi></msub></mtd></mtr><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>y</mi></msub></mtd></mtr><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>z</mi></msub></mtd></mtr></mtable></mfenced><mo>)</mo></mrow></mrow> expands to: <mfenced open = "{" close = ""><mtable><mtr><mtd><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>E</mi></msub><mo>=</mo><mo>-</mo><mi>&amp;delta;</mi><msub><mi>A</mi><mi>y</mi></msub><mo>&amp;CenterDot;</mo><mi>g</mi><mo>-</mo><msub><mo>&amp;dtri;</mo><mi>x</mi></msub></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>N</mi></msub><mo>=</mo><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>x</mi></msub><mo>&amp;CenterDot;</mo><mi>g</mi><mo>+</mo><msub><mo>&amp;dtri;</mo><mi>z</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>U</mi></msub><mo>=</mo><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>y</mi></mrow></msub><mo>&amp;CenterDot;</mo><mi>g</mi><mo>+</mo><msub><mo>&amp;dtri;</mo><mi>y</mi></msub></mrow></mtd></mtr></mtable></mfenced> According to the speed error at the two positions in this step, the accelerometer-related excitation error term can be obtained analytically. 6. The fiber optic gyroscope SINS six-position system-level calibration method as claimed in claim 1, wherein in step (5), the inertial assembly is rotated 90° positively around the Z axis, so that the orientation of the inertial assembly is sky-east -North, and stand still for 1 minute for static navigation, then the inertial component rotates 180° positively around the Y axis at an angular velocity of 10°/s, so that the orientation of the inertial component is ground-east-south, and stand still for 1 minute For static navigation, stop collecting data as follows: In the sky-east-north orientation: <mrow><mfenced open = "[" close = "]"><mtable><mtr><mtd><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>E</mi></msub></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>N</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>U</mi></msub></mrow></mtd></mtr></mtable></mfenced><mo>=</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mn>0</mn></mtd><mtd><mn>0</mn></mtd><mtd><mn>1</mn></mtd></mtr><mtr><mtd><mn>1</mn></mtd><mtd><mn>0</mn></mtd><mtd><mn>0</mn></mtd></mtr><mtr><mtd><mn>0</mn></mtd><mtd><mn>1</mn></mtd><mtd><mn>0</mn></mtd></mtr></mtable></mfenced><mrow><mo>(</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>x</mi></mrow></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;A</mi><mi>z</mi></msub></mrow></mtd><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>y</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>z</mi></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>y</mi></mrow></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;A</mi><mi>x</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>&amp;delta;G</mi><mi>y</mi></msub></mrow></mtd><mtd><mrow><mo>-</mo><msub><mi>&amp;;delta;A</mi><mi>x</mi></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>z</mi></mrow></msub></mrow></mtd></mtr></mtable></mfenced><mfenced open = "[" close = "]"><mtable><mtr><mtd><mi>g</mi></mtd></mtr><mtr><mtd><mn>0</mn></mtd></mtr><mtr><mtd><mn>0</mn></mtd></mtr></mtable></mfenced><mo>+</mo><mfenced open = "[ " close = "]"><mtable><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>x</mi></msub></mtd></mtr><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>y</mi></msub></mtd></mtr><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>z</mi></msub></mtd></mtr></mtable></mfenced><mo>)</mo></mrow></mrow> expands to: <mfenced open = "{" close = ""><mtable><mtr><mtd><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>E</mi></msub><mo>=</mo><mi>&amp;delta;</mi><msub><mi>G</mi><mi>y</mi></msub><mo>&amp;CenterDot;</mo><mi>g</mi><mo>+</mo><msub><mo>&amp;dtri;</mo><mi>z</mi></msub></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>N</mi></msub><mo>=</mo><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>x</mi></mrow></msub><mo>&amp;CenterDot;</mo><mi>g</mi><mo>+</mo><msub><mo>&amp;dtri;</mo><mi>x</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>U</mi></msub><mo>=</mo><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>z</mi></msub><mo>&amp;CenterDot;</mo><mi>g</mi><mo>+</mo><msub><mo>&amp;dtri;</mo><mi>y</mi></msub></mrow></mtd></mtr></mtable></mfenced> Rotate around the Y axis, the rotation angle is 180°, ω _x ≈ 0, ω _y ≈ ω, ω _z ≈ 0, then: expands to: Integrating the above equations, we get: After rotation, in the ground-east-south orientation: The velocity error equation due to the accelerometer: <mrow><mfenced open = "[" close = "]"><mtable><mtr><mtd><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>E</mi></msub></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>N</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>U</mi></msub></mrow></mtd></mtr></mtable></mfenced><mo>=</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mn>0</mn></mtd><mtd><mn>0</mn></mtd><mtd><mrow><mo>-</mo><mn>1</mn></mrow></mtd></mtr><mtr><mtd><mn>1</mn></mtd><mtd><mn>0</mn></mtd><mtd><mn>0</mn></mtd></mtr><mtr><mtd><mn>0</mn></mtd><mtd><mrow><mo>-</mo><mn>1</mn></mrow></mtd><mtd><mn>0</mn></mtd></mtr></mtable></mfenced><mrow><mo>(</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>x</mi></mrow></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;A</mi><mi>z</mi></msub></mrow></mtd><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>y</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>z</mi></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>y</mi></mrow></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;A</mi><mi>x</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>&amp;delta;G</mi><mi>y</mi></msub></mrow></mtd><mtd><mrow><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>x</mi></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>z</mi></mrow></mrow></mtd>msub></mrow></mtd></mtr></mtable></mfenced><mfenced open = "[" close = "]"><mtable><mtr><mtd><mo>-</mo><mi>g</mi></mtd></mtr><mtr><mtd><mn>0</mn></mtd></mtr><mtr><mtd><mn>0</mn></mtd></mtr></mtable></mfenced><mo>+</mo><mfenced open = "[" close = "] "><mtable><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>x</mi></msub></mtd></mtr><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>y</mi></msub></mtd></mtr><mtr><mtd><msub><mo>&amp;dtri;</mo><mi>z</mi></msub></mtd></mtr></mtable></mfenced><mo>)</mo></mrow></mrow> expands to: <mfenced open = "{" close = ""><mtable><mtr><mtd><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>E</mi></msub><mo>=</mo><mi>&amp;delta;</mi><msub><mi>G</mi><mi>y</mi></msub><mo>&amp;CenterDot;</mo><mi>g</mi><mo>-</mo><msub><mo>&amp;dtri;</mo><mi>z</mi></msub></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>N</mi></msub><mo>=</mo><mo>-</mo><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>x</mi></mrow></msub><mo>&amp;CenterDot;</mo><mi>g</mi><mo>+</mo><msub><mo>&amp;dtri;</mo><mi>x</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><mi>&amp;delta;</mi><msub><mover><mi>V</mi><mo>&amp;CenterDot;</mo></mover><mi>U</mi></msub><mo>=</mo><mo>-</mo><msub><mi>&amp;delta;A</mi><mi>z</mi></msub><mo>&amp;CenterDot;</mo><mi>g</mi><mo>-</mo><msub><mo>&amp;dtri;</mo><mi>y</mi></msub></mrow></mtd></mtr></mtable></mfenced> According to the speed error at the two positions in this step, the accelerometer-related excitation error term can be obtained analytically. 7. The six-position system-level calibration method of fiber optic gyroscope SINS as claimed in claim 1, is characterized in that, in the step (6), the data collected by the inertial component is carried out for off-line navigation solution, and the calculation system velocity error and attitude error are specific First, according to the angular velocity and specific force measured by the gyroscope and accelerometer in the above steps, they are projected on the carrier system; afterward, after coordinate system conversion, the angular velocity and specific force of the carrier are projected on the navigation coordinate system, After one integration, the instantaneous attitude angle and linear velocity of the carrier relative to the navigation coordinate system can be obtained; the true value of the attitude angle can be provided by the turntable, and the true value of the velocity is set to 0. 8. the fiber optic gyroscope SINS six-position system-level calibration method as claimed in claim 1, is characterized in that, in step (7), design Kalman filter and carry out filter estimation to inertial component error specifically as: Establish the fiber optic gyroscope system-level calibration Kalman filter state equation: <mrow><msub><mover><mi>X</mi><mo>&amp;CenterDot;</mo></mover><mn>1</mn></msub><mrow><mo>(</mo><mi>t</mi><mo>)</mo></mrow><mo>=</mo><msub><mi>A</mi><mn>1</mn></msub><mrow><mo>(</mo><mi>t</mi><mo>)</mo></mrow><msub><mi>X</mi><mn>1</mn></msub><mrow><mo>(</mo><mi>t</mi><mo>)</mo></mrow><mo>+</mo><msub><mi>G</mi><mn>1</mn></msub><mrow><mo>(</mo><mi>t</mi><mo>)</mo></mrow><msub><mi>W</mi><mn>1</mn></msub><mrow><mo>(</mo><mi>t</mi><mo>)</mo></mrow></mrow> In the formula, A ₁ =[A ₁₁ A ₁₂ A ₁₃ A ₁₄ ] <mrow><msub><mi>A</mi><mn>11</mn></msub><mo>=</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mn>0</mn></mtd><mtd><mrow><msub><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>e</mi></mrow></msub><mi>sin</mi><mi>L</mi></mrow></mtd><mtd><mrow><mo>-</mo><msub><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>e</mi></mrow></msub><mi>cos</mi><mi>L</mi></mrow></mtd></mtr><mtr><mtd><mrow><mo>-</mo><msub><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>e</mi></mrow></msub><mi>sin</mi><mi>L</mi></mrow></mtd><mtd><mn>0</mn></mtd><mtd><mn>0</mn></mtd></mtr><mtr><mtd><mrow><msub><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>e</mi></mrow></msub><mi>cos</mi><mi>L</mi></mrow></mtd><mtd><mn>0</mn></mtd><mtd><mn>0</mn></mtd></mtr></mtable></mfenced></mrow> <mrow><msub><mi>A</mi><mn>12</mn></msub><mo>=</mo><mo>-</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><msub><mi>T</mi><mn>11</mn></msub></mtd><mtd><msub><mi>T</mi><mn>12</mn></msub></mtd><mtd><msub><mi>T</mi><mn>13</mn></msub></mtd></mtr><mtr><mtd><msub><mi>T</mi><mn>21</mn></msub></mtd><mtd><msub><mi>T</mi>mi><mn>22</mn></msub></mtd><mtd><msub><mi>T</mi><mn>23</mn></msub></mtd></mtr><mtr><mtd><msub><mi>T</mi><mn>31</mn></msub></mtd><mtd><msub><mi>T</mi><mn>32</mn></msub></mtd><mtd><msub><mi>T</mi><mn>33</mn></msub></mtd></mtr></mtable></mfenced></mrow> <mrow><msub><mi>A</mi><mn>13</mn></msub><mo>=</mo><mo>-</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mrow><msub><mi>T</mi><mn>11</mn></msub><msubsup><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>b</mi><mi>x</mi></mrow><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>12</mn></msub><msubsup><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>b</mi><mi>y</mi></mrow><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>13</mn></msub><msubsup><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>b</mi><mi>z</mi></mrow><mi>b</mi></msubsup></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>T</mi><mn>21</mn></msub><msubsup><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>b</mi><mi>x</mi></mrow><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>22</mn></msub><msubsup><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>b</mi><mi>y</mi></mrow><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>23</mn></msub><msubsup><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>b</mi><mi>z</mi></mrow><mi>b</mi></msubsup></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>T</mi><mn>31</mn></msub><msubsup><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>b</mi><mi>x</mi></mrow><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>32</mn></msub><msubsup><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>b</mi><mi>y</mi></mrow><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>33</mn></msub><msubsup><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>b</mi><mi>z</mi></mrow><mi>b</mi></msubsup></mrow></mtd></mtr></mtable></mfenced></mrow> <mrow><msub><mi>A</mi><mn>14</mn></msub><mo>=</mo><mo>-</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mrow><msub><mi>T</mi><mn>12</mn></msub><msubsup><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>b</mi><mi>z</mi></mrow><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>13</mn></msub><msubsup><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>b</mi><mi>x</mi></mrow><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>11</mn></msub><msubsup><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>b</mi><mi>y</mi></mrow><mi>b</mi></msubsup></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>T</mi><mn>22</mn></msub><msubsup><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>b</mi><mi>z</mi></mrow><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>23</mn></msub><msubsup><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>b</mi><mi>x</mi></mrow><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>21</mn></msub><msubsup><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>b</mi><mi>y</mi></mrow><mi>b</mi></msubsup></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>T</mi><mn>32</mn></msub><msubsup><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>b</mi><mi>z</mi></mrow><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>33</mn></msub><msubsup><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>b</mi><mi>x</mi></mrow><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>31</mn></msub><msubsup><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>b</mi><mi>y</mi></mrow><mi>b</mi></msubsup></mrow></mtd></mtr></mtable></mfenced></mrow> In the formula, is the random disturbance generated by the gyroscope; T _ij (i,j=1,2,3) is the attitude matrix corresponding element. Create the corresponding measurement equation: Z ₁ (t)=H ₁ X ₁ (t)+V(t) In the formula, <mrow><msub><mi>Z</mi><mn>1</mn></msub><mrow><mo>(</mo><mi>t</mi><mo>)</mo></mrow><mo>=</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><msub><mi>&amp;theta;</mi><mi>I</mi></msub></mtd></mtr><mtr><mtd><msub><mi>&amp;gamma;</mi><mi>I</mi></msub></mtd></mtr><mtr><mtd><msub><mi>&amp;psi;</mi><mi>I</mi></msub></mtd></mtr></mtable></mfenced><mo>-</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><msub><mi>&amp;theta;</mi><mi>Z</mi></msub></mtd></mtr><mtr><mtd><msub><mi>&amp;gamma;</mi><mi>Z</mi></msub></mtd></mtr><mtr><mtd><msub><mi>&amp;psi;</mi><mi>Z</mi></msub></mtd></mtr></mtable></mfenced><mo>=</mo><msup><mfenced open = "[" close = "]"><mtable><mtr><mtd><mrow><mi>&amp;delta;</mi><mi>&amp;theta;</mi></mrow></mtd><mtd><mrow><mi>&amp;delta;</mi><mi>&amp;gamma;</mi></mrow></mtd><mtd><mrow><mi>&amp;delta;</mi><mi>&amp;psi;</mi></mrow></mtd></mtr></mtable></mfenced><mi>T</mi></msup></mrow> <mrow><msub><mi>H</mi><mn>1</mn></msub><mo>=</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mrow><mo>-</mo><msub><mi>cos&amp;psi;</mi><mi>I</mi></msub></mrow></mtd><mtd><mrow><msub><mi>sin&amp;psi;</mi><mi>I</mi></msub></mrow></mtd><mtd><mn>0</mn></mtd><mtd><msub><mn>0</mn><mrow><mn>1</mn><mo>&amp;times;</mo><mn>9</mn></mrow></msub></mtd></mtr><mtr><mtd><mrow><msub><mi>sin&amp;psi;</mi><mi>I</mi></msub><mo>/</mo><msub><mi>cos&amp;theta;</mi><mi>I</mi></msub></mrow></mtd><mtd><mrow><mo>-</mo><mfrac><mrow><mo>(</mo><msub><mi>cos&amp;psi;</mi><mi>I</mi></msub><mo>-</mo><mn>2</mn><msub><mi>sin&amp;theta;</mi><mi>I</mi></msub><msub><mi>sin&amp;gamma;</mi><mi>I</mi></msub><msub><mi>cos&amp;gamma;</mi><mi>I</mi></msub><msub><mi>sin&amp;psi;</mi><mi>I</mi></msub><mo>)</mo></mrow><mrow><msub><mi>cos&amp;theta;</mi><mi>I</mi></msub></mrow></mfrac></mrow></mtd><mtd><mn>0</mn></mtd><mtd><msub><mn>0</mn><mrow><mn>1</mn><mo>&amp;times;</mo><mn>9</mn></mrow></msub></mtd></mtr><mtr><mtd><mrow><mo>-</mo><msub><mi>sin&amp;psi;</mi><mi>I</mi></msub><msub><mi>cos&amp;theta;</mi><mi>I</mi></msub></mrow></mtd><mtd><mrow><msub><mi>cos&amp;psi;</mi><mi>I</mi></msub><msub><mi>tan&amp;theta;</mi><mi>I</mi></msub></mrow></mtd><mtd><mrow><mo>-</mo><mn>1</mn></mrow></mtd><mtd><msub><mn>0</mn><mrow><mn>1</mn><mo>&amp;times;</mo><mn>9</mn></mrow></msub></mtd></mtr></mtable></mfenced></mrow> In the formula, θ _I , γ _I , and ψ _I are the pitch angle, roll angle, and heading angle information obtained from the navigation solution; θ _Z , γ _Z , and ψ _Z are the true attitude values of the turntable; is the error between the navigation solution and the true value of the turntable; V(t) is the system measurement noise; Establish the accelerometer system-level calibration Kalman filter state equation: <mrow><msub><mover><mi>X</mi><mo>&amp;CenterDot;</mo></mover><mn>2</mn></msub><mrow><mo>(</mo><mi>t</mi><mo>)</mo></mrow><mo>=</mo><msub><mi>A</mi><mn>2</mn></msub><mrow><mo>(</mo><mi>t</mi><mo>)</mo></mrow><msub><mi>X</mi><mn>2</mn></msub><mrow><mo>(</mo><mi>t</mi><mo>)</mo></mrow><mo>+</mo><msub><mi>G</mi><mn>2</mn></msub><mrow><mo>(</mo><mi>t</mi><mo>)</mo></mrow><msub><mi>W</mi><mn>2</mn></msub><mrow><mo>(</mo><mi>t</mi><mo>)</mo></mrow></mrow> In the formula, <mrow><msub><mi>X</mi><mn>2</mn></msub><mo>=</mo><msup><mfenced open = "[" close = "]"><mtable><mtr><mtd><mrow><msub><mi>&amp;delta;V</mi><mi>E</mi></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;V</mi><mi>N</mi></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;V</mi><mi>U</mi></msub></mrow></mtd><mtd><msub><mo>&amp;dtri;</mo><mi>x</mi></msub></mtd><mtd><msub><mo>&amp;dtri;</mo><mi>y</mi></msub></mtd><mtd><msub><mo>&amp;dtri;</mo><mi>z</mi></msub></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>x</mi></mrow></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>y</mi></mrow></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;K</mi><mrow><mi>A</mi><mi>z</mi></mrow></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;A</mi><mi>x</mi></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;A</mi><mi>y</mi></msub></mrow></mtd><mtd><mrow><msub><mi>&amp;delta;A</mi><mi>z</mi></msub></mrow></mtd></mtr></mtable></mfenced><mi>T</mi></msup><mo>;</mo></mrow> A ₂ =[A ₂₁ A ₂₂ A ₂₃ A ₂₄ ] <mrow><msub><mi>A</mi><mn>21</mn></msub><mo>=</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mrow><mfrac><msub><mi>V</mi><mi>N</mi></msub><msub><mi>R</mi><mi>N</mi></msub></mfrac><mi>tan</mi><mi></mi><mi>L</mi><mo>-</mo><mfrac><msub><mi>V</mi><mi>U</mi></msub><msub><mi>R</mi><mi>N</mi></msub></mfrac></mrow></mtd><mtd><mrow><mn>2</mn><msub><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>e</mi></mrow></msub><mi>s</mi><mi>i</mi><mi>n</mi><mi></mi><mi>L</mi><mo>+</mo><mfrac><msub><mi>V</mi><mi>E</mi></msub><msub><mi>R</mi><mi>N</mi></msub></mfrac><mi>tan</mi><mi></mi><mi>L</mi></mrow></mtd><mtd><mrow><mo>-</mo><mn>2</mn><mrow><mo>(</mo><msub><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>e</mi></mrow></msub><mi>cos</mi><mi></mi><mi>L</mi><mo>+</mo><mfrac><msub><mi>V</mi><mi>E</mi></msub><msub><mi>R</mi><mi>N</mi></msub></mfrac><mo>)</mo></mrow></mrow></mtd></mtr><mtr><mtd><mrow><mo>-</mo><mrow><mo>(</mo><mn>2</mn><msub><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>e</mi></mrow></msub><mi>s</mi><mi>i</mi><mi>n</mi><mi></mi><mi>L</mi><mo>+</mo><mfrac><msub><mi>V</mi><mi>E</mi></msub><msub><mi>R</mi><mi>N</mi></msub></mfrac><mi>tan</mi><mi></mi><mi>L</mi><mo>)</mo></mrow></mrow></mtd><mtd><mrow><mo>-</mo><mfrac><msub><mi>V</mi><mi>U</mi></msub><msub><mi>R</mi><mi>M</mi></msub></mfrac></mrow></mtd><mtd><mrow><mo>-</mo><mfrac><msub><mi>V</mi><mi>N</mi></msub><msub><mi>R</mi><mi>M</mi></msub></mfrac></mrow></mtd></mtr><mtr><mtd><mrow><mn>2</mn><mrow><mo>(</mo><msub><mi>&amp;omega;</mi><mrow><mi>i</mi><mi>e</mi></mrow></msub><mi>cos</mi><mi></mi><mi>L</mi><mo>+</mo><mfrac><msub><mi>V</mi><mi>E</mi></msub><msub><mi>R</mi><mi>N</mi></msub></mfrac><mo>)</mo></mrow></mrow></mtd><mtd><mfrac><mrow><mn>2</mn><msub><mi>V</mi><mi>N</mi></msub></mrow><msub><mi>R</mi><mi>M</mi></msub></mfrac></mtd><mtd><mn>0</mn></mtd></mtr></mtable></mfenced></mrow> <mrow><msub><mi>A</mi><mn>22</mn></msub><mo>=</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><msub><mi>T</mi><mn>11</mn></msub></mtd><mtd><msub><mi>T</mi><mn>12</mn></msub></mtd><mtd><msub><mi>T</mi><mn>13</mn></msub></mtd></mtr><mtr><mtd><msub><mi>T</mi><mn>21</mn></msub></mtd><mtd><msub><mi>T</mi><mn>22</mn></msub></mtd><mtd><msub><mi>T</mi><mn>23</mn></msub></mtd></mtr><mtr><mtd><msub><mi>T</mi><mn>31</mn></msub></mtd><mtd><msub><mi>T</mi><mn>32</mn></msub></mtd><mtd><msub><mi>T</mi><mn>33</mn></msub></mtd></mtr></mtable></mfenced></mrow> <mrow><msub><mi>A</mi><mn>23</mn></msub><mo>=</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mrow><msub><mi>T</mi><mn>11</mn></msub><msubsup><mi>f</mi><mi>x</mi><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>12</mn></msub><msubsup><mi>f</mi><mi>y</mi><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>13</mn></msub><msubsup><mi>f</mi><mi>z</mi><mi>b</mi></msubsup></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>T</mi><mn>21</mn></msub><msubsup><mi>f</mi><mi>x</mi><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>22</mn></msub><msubsup><mi>f</mi><mi>y</mi><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>23</mn></msub><msubsup><mi>f</mi><mi>z</mi><mi>b</mi></msubsup></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>T</mi><mn>31</mn></msub><msubsup><mi>f</mi><mi>x</mi><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>32</mn></msub><msubsup><mi>f</mi><mi>y</mi><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>33</mn></msub><msubsup><mi>f</mi><mi>z</mi><mi>b</mi></msubsup></mrow></mtd></mtr></mtable></mfenced></mrow> <mrow><msub><mi>A</mi><mn>23</mn></msub><mo>=</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mrow><msub><mi>T</mi><mn>12</mn></msub><msubsup><mi>f</mi><mi>z</mi><mi>b</mi></msubsup><mo>-</mo><msub><mi>T</mi><mn>13</mn></msub><msubsup><mi>f</mi><mi>y</mi><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>13</mn></msub><msubsup><mi>f</mi><mi>x</mi><mi>b</mi></msubsup><mo>-</mo><msub><mi>T</mi><mn>11</mn></msub><msubsup><mi>f</mi><mi>z</mi><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>11</mn></msub><msubsup><mi>f</mi><mi>y</mi><mi>b</mi></msubsup><mo>-</mo><msub><mi>T</mi><mn>12</mn></msub><msubsup><mi>f</mi><mi>x</mi><mi>b</mi></msubsup></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>T</mi><mn>22</mn></msub><msubsup><mi>f</mi><mi>z</mi><mi>b</mi></msubsup><mo>-</mo><msub><mi>T</mi><mn>23</mn></msub><msubsup><mi>f</mi><mi>y</mi><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>23</mn></msub><msubsup><mi>f</mi><mi>x</mi><mi>b</mi></msubsup><mo>-</mo><msub><mi>T</mi><mn>21</mn></msub><msubsup><mi>f</mi><mi>z</mi><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>21</mn></msub><msubsup><mi>f</mi><mi>y</mi><mi>b</mi></msubsup><mo>-</mo><msub><mi>T</mi><mn>22</mn></msub><msubsup><mi>f</mi><mi>x</mi><mi>b</mi></msubsup></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>T</mi><mn>32</mn></msub><msubsup><mi>&amp;omega;f</mi><mi>z</mi><mi>b</mi></msubsup><mo>-</mo><msub><mi>T</mi><mn>33</mn></msub><msubsup><mi>f</mi><mi>y</mi><mi>b</mi></msubsup></msubsup></msubsup>mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>33</mn></msub><msubsup><mi>f</mi><mi>x</mi><mi>b</mi></msubsup><mo>-</mo><msub><mi>T</mi><mn>31</mn></msub><msubsup><mi>f</mi><mi>z</mi><mi>b</mi></msubsup></mrow></mtd><mtd><mrow><msub><mi>T</mi><mn>31</mn></msub><msubsup><mi>f</mi><mi>y</mi><mi>b</mi></msubsup><mo>-</mo><msub><mi>T</mi><mn>32</mn></msub><msubsup><mi>f</mi><mi>x</mi><mi>b</mi></msubsup></mrow></mtd></mtr></mtable></mfenced></mrow> In the formula, is the random disturbance generated by the accelerometer; T _ij (i,j=1,2,3) is the attitude matrix corresponding element; Create the corresponding measurement equation: Z ₂ (t)=V ⁿ (t)-0=H ₂ X ₂ (t)+V(t) In the formula, Z ₂ (t)＝[δV _E δV _N δV _U ] ^T <mrow><msub><mi>H</mi><mn>2</mn></msub><mo>=</mo><mfenced open = "[" close = "]"><mtable><mtr><mtd><mn>1</mn></mtd><mtd><mn>0</mn></mtd><mtd><mn>0</mn></mtd><mtd><msub><mn>0</mn><mrow><mn>1</mn><mo>&amp;times;</mo><mn>9</mn></mrow></msub></mtd></mtr><mtr><mtd><mn>0</mn></mtd><mtd><mn>1</mn></mtd><mtd><mn>0</mn></mtd><mtd><msub><mn>0</mn><mrow><mn>1</mn><mo>&amp;times;</mo><mn>9</mn></mrow></msub></mtd></mtr><mtr><mtd><mn>0</mn></mtd><mtd><mn>0</mn></mtd><mtd><mn>1</mn></mtd><mtd><msub><mn>0</mn><mrow><mn>1</mn><mo>&amp;times;</mo><mn>9</mn></mrow></msub></mtd></mtr></mtable></mfenced></mrow> In the formula, δV _E , δV _N , and δV _U are the errors between the navigation solution and the true value; V(t) is the system measurement noise; a 24-dimensional Kalman filter is established based on the system error model in step (3), Calibrate the various errors of the inertial components; use the principle of the Kalman filter to estimate the various error parameters in the state quantity, and complete the identification of the various error parameters of the inertial components. 9. The method for calibrating the fiber optic gyro SINS six-position system as claimed in claim 1, wherein in step (8), the value range of the rotational angular velocity is 10°/s-30°/s.