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在捷联惯性导航系统姿态解算的过程中,陀螺仪器件自身测量精度起到了重要作用。在ADIS16375元器件进行了工厂级校准和提供可选择滤波器库的基础上,针对影响姿态解算精度的最主要的两类误差:固定零偏和随机噪声,建立一种简单实用的特性模型。分别对固定零偏进行校正和采用小波滤波对陀螺仪误差进行补偿。试验结果表明陀螺仪误差补偿在静止状态零偏稳定性和角度漂移抑制方面有显著提高,而运动过程中在对角度漂移抑制的同时也提高了姿态解算精度。
In the process of solving the attitude of strapdown inertial navigation system, the gyroscope’s own measurement accuracy plays an important role. Based on the ADIS16375 components factory calibration and optional filter bank, aiming at the two main types of errors that affect the attitude resolution accuracy: fixed zero offset and random noise, a simple and practical model is established. Correction of fixed zero bias and wavelet filter are respectively used to compensate the gyroscope error. The experimental results show that the gyro error compensation has a significant improvement in the zero bias stability and angle drift suppression at rest, while the attitude drift accuracy is also improved while the angular drift is suppressed during the motion.