Optimization of Ring Laser Gyroscope Bias Compensation Algorithm in Variable Temperature Environment In a high accuracy strapdown inertial navigation system (SINS), the ring laser gyroscopexe2x80x99s (RLG) bias changes and the performance decreases due to factors in the RLGxe2x80x99s selfheating and changes in ambient temperature. Therefore, it is important to study the bias temperature drift characteristics of RLGs in high, low, and variable temperature environments. In this paper, a composite temperature calibration scheme is proposed. The composite temperature model introduces the derivative term and the temperature derivative crossmultiplier on the basis of the static model and sets the overlap regions for the piecewise least squares fitting. The results show that the composite temperature model can compensate the bias trend term well at ambient temperature, improve the fitting accuracy, and smooth the output curve. The compensation method has a small amount of calculations and flexible parameter design. The precision of the laser gyros in one SINS is improved by about 64.9%, 15.7%, and 3.6%, respectively, which has certain engineering application value.

RealTime Calibration of Magnetometers Using the RLSML Algorithm This study presents a new realtime calibration algorithm for threeaxis magnetometers by combining the recursive least square (RLS) estimation and maximum likelihood (ML) estimation methods. Magnetometers are widely employed to determine the heading information by sensing the magnetic field of earth; however, they are vulnerable to ambient magnetic disturbances. This makes the calibration of a magnetometer inevitable before it is employed. In this paper, first, a complete measurement error model of the magnetometer is studied, and a simplified model is developed. Then, the realtime RLS algorithm is introduced and discussed in detail, and the unbiased optimal ML is utilized to improve the accuracy of the parameter estimation. The proposed algorithm is advantageous in correcting the parameters in real time and simultaneously obtaining unbiased parameter estimation. Finally, the simulation and experimental results demonstrate that both the accuracy and computational speed of the proposed algorithm is better than those of the widely used bathprocessing method. Moreover, the proposed calibration method can be adopted for calibrating other threeaxis sensors.