This article investigates a fast azimuth gyro drift calibration method based on low-cost single-axis rotation strapdown inertial navigation system (SINS) under mooring conditions, utilizing an adaptive robust Kalman filter (ARKF) framework. Firstly, a rotation modulation KF model based on the angular rate extended measurement equation is designed, which effectively enhances the observability of heading misalignment angle and azimuth gyro drift. The validity of the proposed method is verified through singular value decomposition. Secondly, an on...
