摘要
文章研究了捷联惯性组合的在舰标定问题。对于陀螺仪提出以姿态误差角作为观测量,采用系统级标定法进行标定。在标定过程中将舰载主惯导给出的导航坐标系角速率ωnin引入到捷联惯性组合的姿态更新,实现了姿态误差与速度误差和位置误差的解耦,避免了由于所列状态量过多而造成的矩阵维数过大的问题。对于加速度计提出以舰载主惯导对比力矢量的测量值作为参考量,以捷联惯性组合对该矢量的测量误差作为观测量对其进行标定。计算机仿真结果表明,文中给出的方法可以有效地完成捷联惯性组合在舰标定,且标定精度较高,具有较强的实际意义。
Aim. We say proposing a new method as, to our knowledge, there is no paper in the open literature on sueh a method. In the introduction of the full paper, we point out that, in our new method, we can make a simplifying assumption. Sections 1 and 2 of the full paper explain our new method. Its core consists of： （ 1 ） we apply the system-level ealibration method to gyro calibration; this is done by introducing the navigation frame rate ωin^n caleulated by the seaborne inertial navigation system to the attitude updating of the strapdown inertial measurement unit in order to uncouple its attitude errors from its velocity errors and position errors; （2） for accelerometer calibration, we select the specific force errors as measurement errors. The simulation results, given in Figs. 1 and 2, and their analysis show preliminarily that our new method can calibrate every type of errors of the strapdown inertial measurement unit with aceeptable precision and therefore it is of praetical signifieanee.
出处
《西北工业大学学报》
EI
CAS
CSCD
北大核心
2010年第3期369-374,共6页
Journal of Northwestern Polytechnical University
关键词
惯导系统
标定
捷联惯性组合
陀螺仪标定
加速度计标定
inertial navigation systems, calibration, strapdown inertial measurement unit, gyro calibration, aceel- erometer calibration
