摘要
惯导系统参数稳定性是决定系统精度的重要因素。基于激光陀螺捷联惯导系统参数稳定性统计分析,建立了适合激光陀螺捷联惯导系统外场自标定的加速度计组件误差参数模型。以惯性组合转动后重新调平的水平姿态修正量以及静态下重力测量误差为观测量,不依赖外界方向姿态转角等基准信息,实现了加速度计组件主要误差参数在外场条件下的自标定,并给出了标定参数的修正方法。实验表明,常温下加速度计组件的标定参数发生明显变化,采用外场标定方法可对其进行修正,相应的水平姿态最大误差由65″减小到10″。该方法标定精度好,标定时间短,操作简便,且对基座不稳造成的瞬时姿态小扰动影响有抑制能力。
The parameter stability of INS is a key factor to determine the system precision.In this paper,an error model of accelerometer components is presented for RLG-SINS outfield self-calibration based on the statistic analysis of parameter stability.Observation equations are proposed with level or tilt correction for IMU rotation and static gravity measure error.Outfield self-calibration of the error parameters can be achieved without any form of outside orientation attitude or rotation angle reference aiding.The method of parameter modification is also presented.Experiments show that the accelerometer parameters would change obviously under normal temperature.By using the proposed outfield self-calibration method,these parameters can be modified and the level attitude error is reduced from 65″ to 10″.This method has the features of easy operation,rapid and high accurate calibration,and can suppress instantaneous small attitude disturbances caused by base movement.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2011年第1期11-15,共5页
Journal of Chinese Inertial Technology
基金
国家973重大基础研究项目资助(61334010303)
