激光陀螺捷联惯导系统多位置系统级标定方法

捷联惯导系统的精度受到自身各种误差因素的影响, 需在使用之前进行精确地标定和补偿。为了更加有效地标定误差, 设计了一种10位置系统级标定的方法。利用简化的误差模型和速度误差变化率方程, 建立了所有误差参数与导航误差之间的线性关系。通过设计的10位置连续旋转方案对由各项误差参数引起的速度误差进行充分激励, 利用所得数据进行卡尔曼滤波, 计算出包括陀螺仪和加速度计的零偏、标度因数误差、安装误差以及加速度计二次项误差等24个误差参数。仿真得到陀螺零偏误差优于0.000 75(°)/h, 加速度计零偏误差优于5 ?滋g, 陀螺和加速度计的安装角误差优于1.5″, 标度因数误差优于2 ppm(1 ppm=10-6)系统, 加速度计二次项误差优于0.15×10-6 s2/m。另通过3组实验验证了重复性, 证明了该方法确实有效。

Abstract

The accuracy of strapdown inertial navigation system(SINS) is affected by many error parameters. So it should be calibrated and compensated before put into service. For calibrating error parameters more efficiently, a ten-position systematic calibration method was designed. Firstly, through a simplified error parameter model and the equation of velocity error gradient, linear relationships between navigation errors and all error parameters were established. Secondly, because of the velocity error through designed ten-position consecutive rotation plan, the data of gyros and accelerometers were used to calculate all twenty-four error parameters using Kalman filtering method. In addition, this method was simple and feasible. Through the simulation, gyro bias errors are lower than 0.000 75(°)/h; accelerometer bias errors are within 5 ?滋g; installation angle errors of gyros and accelerometers are better than 1.5″, scale errors are better than 2 ppm, accelerometer quadratic term is better than 0.15×10-6 s2/m. Through three groups of experiments, the repeatability of the method is verified, and the method is proved useful.

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激光陀螺捷联惯导系统多位置系统级标定方法

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