摘要
惯性器件的零偏和安装误差角对捷联式惯导系统的精度影响相比平台式惯导更为显著。为在外场条件下标定捷联惯导加速度计的误差参数,建立了捷联惯导系统加速度计和陀螺误差对系统速度精度影响模型。提出了根据七个位置速度输出对加速度计零偏和安装误差角验证和精确校正的方法。该方法不但可以对转台标定的结果进行精确校正,还可以在外场情况下对加速度计零位和偏角进行简易的标定。仿真分析和试验结果表明,加计零位标定精度优于5×10-5g,安装误差角精度优于0.2′。
The effect of bias and misalignment angles of initial components on accuracy of SINS is more obvious than a platform one.In order to calibrate the misalignment angles and the bias of accelerometers under outer field condition,a model that reflect the IMU（inertial measurement unit） bias and misalignment angle＇s influence on velocity is established.Based on this model,a 7-position accurate calibration algorithm is derived to calculate the bias and the misalignment angles of accelerometers.This method is not only able to accurately correct the result of turntable calibration,but also can calibrate the errors of accelerometers under outer field condition.The simulations and calibration tests results show that the calibrating accuracy of accelerometer bias is better than 5×10-5g and the misalignment is better than 0.2′.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2011年第4期423-426,共4页
Journal of Chinese Inertial Technology
基金
国家自然科学青年基金(60204005)
关键词
捷联惯性导航系统
加速度计零偏和安装误差角
七位置
外场标校
SINS
accelerometer bias and misalignment angle
7-position
calibration method under outer field condition
