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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5μg,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。
Strapdown inertial navigation system accuracy by its own various error factors, need to be accurately calibrated and compensated before use. In order to more effectively calibrate the error, a 10-position system-level calibration method was designed. Using the simplified error model and the velocity error rate of change equation, a linear relationship between all the error parameters and the navigation error is established. Through the designed 10-position continuous rotation scheme, the velocity error caused by each error parameter is fully excited. The Kalman filter is used to calculate the zero bias, scale factor error, installation error, and error of gyroscope and accelerometer Accelerometer quadratic error 24 error parameters. The gyro zero bias error is better than 0.000 75 (°) / h, the accelerometer zero bias error is better than 5μg, the gyro and accelerometer setup angle error is better than 1.5 ", and the scale factor error is better than 2 ppm (1 ppm = 10-6) system, the accelerometer quadratic error is better than 0.15 × 10-6 s2 / m, and the repeatability is verified by three sets of experiments, which proves the method is effective.