An
inertial measurement unit and geomagnetic sensor integrated calibration apparatus and a calibration method. The invention relates to the technical field of navigation and solves the problems of high calibration device cost and complex calibration methods for an
inertial measurement unit in the prior art, and low
measurement precision in a compensation technology for a geomagnetic sensor due to error. In the apparatus, a high-resolution long-focus industrial camera is fixedly connected to a dual-antenna GNSS / SINS combined
navigation system. The calibration method includes the steps of: 1) measuring position of earth
system and an attitude angle of local geo-
system by means of the basic combined
navigation system; 2) referring to a table to find a theoretical geomagnetic
field intensity value, calculating theoretical
specific force and angular speed, and calculating the nominal value of a calibrated object on a
carrier system through optical reference transmission; 3) collecting measurement values of the to-be-tested IMU and the geomagnetic sensor, optionally arranging a hexahedral tooling to obtain a plurality sets of nominal values and measurement values of the calibrated object, establishing an equation group, and calculating calibration parameters to complete calibration. The apparatus and the method avoid direct mechanical installation and serious
electromagnetic interference on the geomagnetic sensor due to the calibration apparatus, and improve accuracy and reliability of the calibration of the geomagnetic sensor.