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为了求解单轴旋转捷联惯导系统的尺寸参数,推导了参数辨识的公式,并设计了转位方案。首先,分析了单轴旋转捷联惯导系统(SINS)尺寸效应的原理,推导了以加速度计输出量为观测量的尺寸参数辨识方法。然后,针对辨识公式中的载体姿态进行了研究,发现合理的整周旋转方案可以消除载体姿态及姿态误差角对尺寸参数辨识的影响,并基于转位角速度的匀加减速模型,分析了该模型与速度增量误差之间的的关系,设计了转位方案。最后,进行了参数辨识试验,得到的尺寸参数标准差<2.3mm(1σ),利用均值补偿二位置对准的尺寸效应后,初始对准精度由69.5″(3σ)提高到47.2″(3σ),验证了方法的可行性。
In order to solve the size parameter of SINS, the formula of parameter identification is deduced and the transposition scheme is designed. Firstly, the principle of size effect of single-axis SINS is analyzed, and the dimension parameter identification method based on accelerometer output is derived. Then, the attitude of the carrier in the identification formula is studied. It is found that a reasonable scheme of full-cycle rotation can eliminate the influence of the attitude of the carrier and the attitude error on the identification of the size parameter. Based on the uniform acceleration and deceleration model of the indexing angular velocity, the model is analyzed And the relationship between the incremental speed error, the design of the transposing scheme. Finally, the parameter identification test is carried out, and the standard deviation of size parameter is <2.3mm (1σ). After the size effect of two-position alignment is compensated with the mean value, the initial alignment accuracy increases from 69.5 “(3σ) to 47.2” (3σ) , Verify the feasibility of the method.