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安装误差和温度是MEMS微惯性组合的主要误差源,这两种因素所引起的误差通常占系统总误差的90%以上。通过对微惯性组合的安装误差及温度因素的影响进行深入分析,构建了一种适用于低成本导航微惯性组合静态误差补偿模型。该模型是一种基于线性模型的改进型模型,模型复杂度低,按实验标定方法获取模型参数后可实时计算惯组输出,用于对MEMS微惯性组合实时性要求高的环境中。并且,通过对模型深入分析,巧妙设计标定方法,大大简化了该模型的标定步骤,使模型参数的获取更为方便。为了论证模型正确性,进行了标定实验,实验结果表明模型是切实可靠的。
The installation error and temperature are the main sources of error for the MEMS micro-inertial combination. The errors caused by these two factors usually account for over 90% of the total system error. By analyzing the influence of installation error and temperature factor of micro inertial combination, a static error compensation model suitable for low inertia micro-inertial navigation system is constructed. The model is an improved model based on the linear model. The model has low complexity. After obtaining the model parameters according to the experimental calibration method, the output of the habitual group can be calculated in real time, which is used in the environment demanding high real-time MEMS micro-inertial combination. And, through in-depth analysis of the model, cleverly designed calibration method greatly simplifies the calibration steps of the model, making it easier to obtain model parameters. In order to demonstrate the correctness of the model, a calibration experiment was conducted. The experimental results show that the model is reliable.