摘要
为尽可能消除IMU安装误差和陀螺漂移对系统精度的影响,运用主从惯导传递对准技术,采用扩展状态滤波器和速度/姿态角组合匹配的方法,估计出IMU安装误差和陀螺漂移误差,并对系统进行补偿。仿真结果表明,补偿了安装误差和陀螺漂移后,捷联惯性系统的导航参数精度可提高1个数量级以上。
Inertial measuring unit(IMU) misalignment and gyros drift are the major error sources in solutions of the navigation equation of strapdown inertial navigation. The paper uses velocity and attitude matching to estimate the IMU misalignment and gyros drift. The misalignment errors and gyro drifts are compensated in navigation algorithm. The accuracy of compensation navigation algorithm can be improved one to two orders of magnitude as compared to that without compensation algorithms.
出处
《中国惯性技术学报》
EI
CSCD
2004年第5期13-15,25,共4页
Journal of Chinese Inertial Technology
基金
十五国防预研项目资助
