摘要
使用冗余惯性器件的捷联惯组有效地提高了其可靠性,还能提高导航精度,但也同时对其标定技术提出了新的要求。提出了一种迭代式的冗余惯组分立标定方法,可消除加表不对称误差对标定造成的影响,提高标定精度。首先建立了基于方向余弦的惯性器件输入输出模型,用最优估计方法计算模型中各参数。其次,使用迭代方法消除由于加表刻度因数不对称造成的参数估计误差,且所提方法无需北向基准。试验结果证明,在整个5100 s的动态导航中使用所提方法后,全程位置精度均有所提升,并能将末端位置精度提升约400 m。
The use of redundant inertial sensors effectively improves the reliability of the IMU and improves the navigation accuracy,but also puts forward new requirements for its calibration technology.An iterative redundant IMU(Inertial Measurement Unit)discrete calibration method is proposed,which can eliminate the influence of the asymmetric error of accelerometer on the calibration and improve the calibration accuracy.Firstly,the input and output model of the inertial sensor based on the direction cosine is established,and the parameters in the model are calculated by the optimal estimation method.Secondly,the parameter estimation error caused by the asymmetry of the accelerometer scale factor is eliminated by the iterative method,and the proposed method does not require a northbound datum.Experimental results show that the position accuracy of the proposed method is improved in the whole 5100 s dynamic navigation,and the end position accuracy can be improved by 400 m.
作者
罗睿
李鹏
于玲燕
LUO Rui;LI Peng;YU Lingyan(Beijing Institute of Aerospace Control Devices,Beijing 100039,China;Beijing Aerospace Times Laser Inertial Technology Company,Ltd.,Beijing 100094,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2023年第2期114-120,共7页
Journal of Chinese Inertial Technology
基金
装发预研项目(50917010202)。
关键词
冗余
惯性测量组件
标定方法
误差模型
redundant
inertial measurement unit
calibration method
error model
