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捷联惯导系统的精度受到自身各种误差因素的影响,针对陀螺的标度因数误差和非正交安装角误差,提出了一种以圆锥运动激发姿态误差来进行快速标定的方法。通过理论分析得出,在短时间内,由于标度因数误差和非正交安装角误差的存在,圆锥运动将激发出随时间线性增大的姿态解算误差。将解算得到的姿态误差与陀螺数据联立,可以反解得到标度因数误差和非正交安装角的值。通过仿真验证,安装角误差能达到1″以内,标度因数误差能达到5ppm以内。
The accuracy of strapdown inertial navigation system is affected by its own various error factors. According to the error of scale factor and non-orthogonal installation angle of gyroscope, a method of using cone motion to trigger attitude error for rapid calibration is proposed. The theoretical analysis shows that in a short time, due to the existence of scale factor error and non-orthogonal mounting angle error, conical motion will stimulate the attitude solving error that increases linearly with time. By solving the attitude error obtained by the solution and the gyro data in parallel, the value of the scale factor error and the non-orthogonal installation angle can be inversely obtained. Through simulation, the installation angle error can reach within 1 ", scale factor error can reach within 5ppm.