摘要
在高动态环境下,由内杆臂引起的尺寸效应误差是高精度捷联惯导系统的重要误差源之一。从原理上分析了内杆臂误差的产生机理,推导了内杆臂误差的动态误差模型,并结合系统误差模型推导了内杆臂的标定模型,选取考虑了外杆臂误差的速度误差为系统观测量,提出了基于卡尔曼滤波的内杆臂参数辨识方法。试验结果表明,内杆臂标定重复性精度优于2 mm,快速旋转试验中,内杆臂误差补偿后,速度误差减小90%,摇摆试验中的导航精度也得到显著提升。
Under high dynamic circumstances,the size effect error caused by inner lever arm is an important error source of high accuracy strap-down inertial navigation system（ SINS）. The mechanism of size effect error is analyzed theoretically. The dynamic error model of inner lever arm is derived,and the calibration model is derived based on inner lever arm model and system error model. By using the velocity compensated with outer lever arm error as the observation,an inner lever arm calibration method based on Kalman filter is established. The experiment results show that the repeatability of inner lever arm parameter is better than 2 mm. In the rapid rotation test,the speed error is reduced by 90 % with inner lever arm parameters compensation,and the navigation accuracy in the swing test is improved significantly.
出处
《现代防御技术》
2018年第1期63-68,共6页
Modern Defence Technology
关键词
内杆臂
卡尔曼滤波
捷联惯导系统
外杆臂
尺寸效应
速度误差
inner lever arm
Kalman filtering
strap-down inertial navigation system （SINS）
outer lever arm
size effect
velocity error
