精确的误差标定技术是提高惯导系统精度的重要基础，故在使用前要对惯性测量单元进行标定。根据误差来源建立了陀螺和加速度计的误差模型，提出并推导了一种采用多位置和速率相结合的标定方法。利用多位置试验标定出加速度计的零偏、标度系数、安装误差，陀螺的零偏以及与加速度有关的误差系数，利用正负对称的速率试验法标定出陀螺的标度因数和安装误差。将算法进行仿真验证，能有效减少误差，具有一定的工程应用价值。

Accurate error calibration technology is the essential foundation for improving the precision of inertial navigation systemthus the inertial measurement unit must be calibrated before using. The error models of gyroscope and accelerometer were established according to the error sourceand a calibration method based on multiposition and velocity was given. The multiposition test was used to calibrate the zeros biasscale factors and installing errors of the accelerometerand the zeros bias and acceleration related error of the gyro. The positive and negative symmetrical speed testing on the singleaxis table was used to calibrate the scale factor and installing error of the gyro. The simulation results indicate that the above method can accurately calibrate the above error coefficientwhich has certain project application value.