摘要
为校准激光陀螺捷联惯组标定系数误差,介绍了基于捷联惯组开环姿态和速度更新的解析算法。捷联开环更新的姿态误差和速度误差中包含一定的标定系数误差信息,通过转动试验和静止试验可以对标定结果进行评估。通过对开环导航系统误差方程的分析,可以得到刻度系数误差、安装误差的解析解。利用误差解析解可以实现对标定系数误差的校准。在双轴位置转台上进行验证试验,由于其自由度的限制只能标定出部分误差参数。从跑车试验效果看,该方法具有可行性。
To correct for the residual sensor errors of the laser gyro strapdown inertial measurement unit （ LSIMU）, the analytical algorithm based on attitude and velocity open-loop updating of the LSIMU is provided. The navigation parameter output errors of the strapdown inertial navigation system（SINS） contain certain residual sensor errors that can be evaluated by rotating and static navigation test. The analytical solution of the scale coefficients error and installation error can be deduced from the analysis of the open-loop navigation system error equations. By these, the certain residual sensor errors can be corrected. The verify experiment based on two-biax position turntable shows that only part parameters of residual sensor errors can be identified due to restrict by freedom degree. The field-test shows that the approach is feasible.
出处
《测控技术》
CSCD
北大核心
2011年第11期99-102,共4页
Measurement & Control Technology
关键词
标定误差
开环更新
误差方程
校准
sensor errors
open-loop updating
error equation
correction
