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针对外场条件下的激光捷联惯组的标定问题,设计了一种适合外场标定的方案。在进行单一位置捷联惯导误差可观测性分析的基础上,提出一种基于平台及正六面体框架的外场标定方法。该方法仅通过翻转正六面体使对称位置误差相消,并且在对准中获取姿态信息,同时精确标定出陀螺漂移和加速度计零偏。最后对理论分析结果进行了仿真验证,仿真结果表明该方案可以实现外场条件下的陀螺漂移和加速度计零偏的精确标定,具有一定的工程实用价值。
Aimed at the calibration of the laser strapdown inertial system in outfield, a scheme suitable for field calibration is designed. Based on the analysis of the observability of SINS error at a single location, a method of field calibration based on the platform and the regular hexahedron frame is proposed. In this method, the symmetric position error is canceled only by inverting the regular hexahedron, and the attitude information is acquired during the alignment, and the gyro drift and the bias of the accelerometer are accurately calibrated. Finally, the theoretical analysis results are verified by simulation. The simulation results show that this scheme can realize the gyro drift and the accurate calibration of the accelerometer bias in the outfield condition, which has some engineering practical value.