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陀螺和加速度计常值零偏随时间变化,惯组误差增大,不满足部队使用要求。传统方法是将激光捷联惯组从载车上拆卸下来放在高精度三轴转台上重新标定,过程繁琐费时、成本高,不利于部队的使用和快速反应。设计了一种激光捷联惯组免拆卸标定方法,在载车进行四位置转位,每个位置静止10min的条件下对陀螺和加速度计零偏误差进行了全局可观测性分析,证明了陀螺常值零偏和水平加速度计常值零偏是可观测的。利用Kalman滤波器估计了三只陀螺和水平加速度计常值零偏。对标定补偿前后激光捷联惯组的全方位对准精度和1h导航精度进行了比较。结果表明:基于载车四位置转位免拆卸标定方法对陀螺和加速度计常值零偏估计是有效的。
Gyro and accelerometer values change with time, the error of the inertia increases, which does not meet the requirements of the troops. The traditional method is to remove the laser strapdown inertia unit from the carrier on a high-precision three-axis turntable to re-calibrate the process cumbersome and time-consuming, high cost, is not conducive to the use of troops and rapid response. A calibration method of laser strapdown inertia free disassembly was designed. The global observability of the gyro and accelerometer zero bias errors was analyzed under the condition of four positions of the carrier carrying vehicles and each position being stationary for 10 minutes. It was proved that the gyro Zero offset values of common zero and horizontal accelerometers are observable. Using the Kalman filter, we estimate the gyro and horizontal accelerometer constant zero bias. Before and after the calibration of the laser strapdown SINS full alignment accuracy and 1h navigation accuracy were compared. The results show that it is effective to estimate the gyro and accelerometer constant zero offset based on the four-position car-free disassembly calibration method.