Compared with the non-redundant inertial navigation system (INS), the redundant INS (RINS) has more error parameters and the system is more complicated. The calibration methods for non-redundant INS are unable to be adopted by RINS directly. Meanwhile, the inner lever arm effect of accelerometers is more severe in RINS, which is not supposed to be ignored in the error compensation. To solve the problems above, this paper proposes a novel calibration method for accelerometers in RINS. First, the paper analyses and models the bias, scale factor error, installation angle error and lever arm error. Based on the error model, two Kalman filters are designed to estimate the error parameters. The calibration is divided into two steps: the bias, scale factor error and installation angle error are calibrated by the static multi-position experiment first, and then the lever arm error is calibrated by the rotation experiment. Experiments prove that the proposed method can effectively calibrate the deterministic error of the accelerometers, that the estimation errors are controlled at 1 10⁻⁴ level. Further, the paper studies and optimizes the turntable rotation scheme in the lever arm error calibration experiment, and proposes the design principles for the rotation scheme. Comparing with the casually designed scheme, the optimized procedure can improve the accuracy by almost an order of magnitude as well as the time-consumption being shortened by 40%. The design principles are applicable to the other inertial navigation systems to improve the calibration accuracy and reduces the time cost.

与非冗余惯性导航系统（INS）相比，冗余惯性导航系统（RINS）具有更多的误差参数，系统也更加复杂。RINS 无法直接采用非冗余 INS 的校准方法。同时，加速度计的内杆臂效应在RINS中更为严重，在误差补偿中不应忽略。针对上述问题，本文提出了一种新的 RINS 加速度计标定方法。首先，本文对偏差、比例因子误差、安装角度误差和杠杆臂误差进行了分析和建模。在误差模型的基础上，设计了两个卡尔曼滤波器来估计误差参数。标定分为两步：首先通过静态多位置实验标定偏差、比例因子误差和安装角度误差，然后通过旋转实验校准杠杆臂误差。实验证明，该方法能有效校准加速度计的确定性误差，估计误差控制在1 10⁻⁴级。进一步对杠杆臂误差标定实验中的转台旋转方案进行了研究和优化，提出了旋转方案的设计原则。与随意设计的方案相比，优化后的程序可以将准确度提高近一个数量级，同时缩短40%的时间消耗。该设计原则适用于其他惯导系统，提高标定精度，降低时间成本。