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静态多位置标定问题,不同位置编排方式会影响辨识精度.针对六位置标定方法,通过建立位置编排与惯组9个误差参数(加速度计零偏、标度因数误差和陀螺零偏)标定精度之间的关系,将惯组位置编排问题转化为Fisher信息矩阵的优化问题,并在A-最优、D-最优和E-最优3个优化指标下,给出了惯组位置编排的最优方案,通过仿真与满足可辨识条件的一组位置编排比较,结果表明最优方案能够提高加速度计零偏和标度因数误差的标定精度.
Static multi-position calibration problem, different position arrangement will affect the recognition accuracy.For the six-position calibration method, through the establishment of the position arrangement and the habitual group of nine error parameters (accelerometer bias, scale factor error and gyro zero bias) calibration accuracy , The problem of the arrangement of the position of the inertial set is transformed into the Fisher information matrix optimization problem, and under the three optimal conditions of A-optimal, D-optimal and E-optimal, The results show that the optimal scheme can improve the calibration accuracy of the bias and scale factor errors of the accelerometer by simulating a set of position arrangements that satisfy the recognizable conditions.