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由于减振器会产生形变,使得带减振器的机抖激光陀螺惯性测量单元(IMU)不能使用由精密转台提供姿态基准的标定方法进行标定。提出了一种带减振器的机抖激光陀螺IMU标定的新方法,该方法先将IMU固联在精密转台上,不启动陀螺,依靠转台提供姿态参考标定出加表各误差参数;在此基础上装上减振器,设计了IMU陀螺误差参数标定路径,根据陀螺误差输出方程,建立21维的Kalman滤波系统级标定算法,并利用导航解算的速度误差作为其观测量。仿真结果表明,该方法能有效地标定出带减振器的机抖激光陀螺IMU的陀螺标度因数、常值漂移、安装误差和加速度计常值漂移等误差参数,满足高精度惯导系统的标定需求。
Because shock absorbers can deform, the Shock Laser Gyro Inertial Measurement Unit (IMU) with damper can not be calibrated using a calibration method that provides attitude reference from a precision turret. A new method for IMU calibration of machine-shake laser gyroscope with vibration damper is proposed in this paper. Firstly, the IMU is fixedly connected to the precision turntable without gyroscope, and the attitude parameters of the IMU are calibrated to add the error parameters. Based on the vibration damper, the calibration path of IMU gyro error parameter is designed. According to the gyro error output equation, a 21-dimensional Kalman filter system-level calibration algorithm is established. The velocity error of navigation solution is used as the observation. The simulation results show that the proposed method can effectively calibrate the gyroscope scale factor, constant drift, installation error and constant drift of accelerometer with vibration damper IMU to meet the requirements of high precision inertial navigation system Calibrate the demand.