The influence of mobility of an inertial measurement unit (IMU) installed on shock absorbers on the accuracy of gyroscope calibration in strapdown inertial navigation systems (SINS) is discussed and the problem of its estimation considered. Based on the data obtained in calibration experiments, the IMU angular deviations are estimated using the algebraic form of the least squares method. A mathematical model of the IMU motion is constructed taking into account its relative mobility. The influence of this mobility on the calibration accuracy of gyroscopes is estimated.

中文翻译：

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用安装在减震器上的惯性测量装置校准捷联惯导系统

讨论了安装在减震器上的惯性测量单元（IMU）的移动性对捷联惯性导航系统（SINS）中陀螺仪校准精度的影响，并考虑了其估算问题。根据在校准实验中获得的数据，使用最小二乘法的代数形式估算IMU角度偏差。考虑到IMU运动的相对移动性，可以构建一个数学模型。估计了这种迁移率对陀螺仪校准精度的影响。