摘要
针对外场环境下没有准确外界参考信息时惯导系统的标定问题,提出了一种基于双惯导系统协同的全参数在线标定算法,其中惯导1为正常工作的双轴旋转惯导系统,惯导2为待标定的具备双轴转位机构的惯导系统。不依靠外界基准信息,在保证惯导1独立工作的前提下,以两套惯导间的相对速度、相对位置作为状态约束观测,利用卡尔曼滤波对惯导2的全误差参数进行标定。通过蒙特卡洛仿真、实物实验和不同时段的协同标定实验对算法的有效性进行了验证,结果表明:在船载冗余惯导系统协同标定的条件下,所提算法对惯导2陀螺标度因数的标定精度优于0.2 ppm(1σ),加速度计标度因数的标定精度优于0.6 ppm(1σ),安装误差的标定精度优于1.5"(1σ);惯导2的标定精度不受惯导1绝对误差的影响,在运动状态下也能进行自主标定。
Aiming at the calibration problem of inertial navigation system(INS)without accurate external reference information in outer field conditions,an all-parameter online calibration algorithm based on the collaboration between dual INSs is proposed,in which INS1 is a dual-axis rotation modulation INS in normal operation,and INS2 is an INS with a dual-axis rotation mechanism to be calibrated.The Kalman filter is established with the state constraint observation of the relative velocity and position between the dual INSs,in which INS1 still works independently.All error parameters of INS2 can be calibrated without external reference information.The validity of the algorithm is proved by the Monte Carlo simulation,the real system experiment,and the collaborative calibration experiment at different periods.The results show that the calibration accuracy of the proposed algorithm is better than 0.2 ppm(1σ)for the gyroscope scale factor of INS2,better than 0.6 ppm(1σ)for the accelerometer scale factor,and better than 1.5″(1σ)for the installation error angle under the condition of collaborative calibration of marine redundant INS.The calibration accuracy of INS2 is not affected by the absolute position error of INS1,and the error parameters can be calibrated autonomously in motion.
作者
梁钟泓
罗晖
李鼎
魏国
于旭东
王林
LIANG Zhonghong;LUO Hui;LI Ding;WEI Guo;YU Xudong;WANG Lin(College of Advanced Interdisciplinary Studies,National University of Defense Technology,Changsha 410073,China;Nanhu Laser Laboratory,National University of Defense Technology,Changsha 410073,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2023年第4期319-326,334,共9页
Journal of Chinese Inertial Technology
基金
国家自然科学基金(62003360)。
关键词
双惯导
旋转调制
在线标定
误差参数估计
dual inertial navigation systems
rotation modulation
online calibration
error parameter estimation
