摘要
分析针对外场试验对惯组零偏标定提出的时间短、精度高的要求,提出了一种基于模观测法的惯组零偏快速标定方法,通过分别构建惯组中三轴陀螺测量信息与地球自转角速度的模值方程和三轴加速度计测量信息与当地重力加速度的模值方程,以惯组3个敏感轴分别大致朝上三位置静态1 min测量信息构建零偏非线性方程组,通过遗传算法最小值寻优获得惯组的零偏标定结果。结果表明:整个惯组零偏标定仅需约3 min,而且不用借助转位机构,仅需让每个敏感轴大致朝上保持静态1 min,适用于外场惯组零偏快速标定;利用仿真和试验验证了所提出方法的有效性,计算值与参考值的偏差均比对应精度的惯组精度高一个数量级,即惯组零偏模标定计算结果与参考值相差在可容许的范围内;验证了所提出方法的正确性和有效性。
Aiming at the requirement of short time and high precision for the calibration of the biases of inertial measurement unit(IMU) in the field test,this paper proposes a fast calibration method for biases of IMU based on norm-observation.The modular equation of measurement information of the three-axis gyro and the angular velocity of the earth and the modular equation of measurement information of the three-axis accelerometer and the local gravitational acceleration are respectively constructed.Nonlinear equation groups for biases are constructed based on the static one-minute measurement information of the three sensitive axes stretching roughly upwards in the IMU.Through the genetic algorithm,the minimum value search is used to obtain the calibration result of the IMU biases.The results show that it takes the IMU biases calibration only about 3 minutes without the use of an indexing mechanism.It is only necessary to keep each sensitive axis roughly upwards and static for 1 minute,which is suitable for fast calibration of the biases of the IMU in the field.The validity of the proposed method is verified by simulation and experiments,and the deviation between the calculated value and the reference value is an order of magnitude higher than that of the corresponding accuracy of the IMU.Thus,the difference between the calculation result of the IMU biases and the reference value is within an allowable range,which validates the correctness and effectiveness of the proposed method.
作者
马国驹
刘鹏娇
邢博文
MA Guoju;LIU Pengjiao;XING Bowen(No.54 Institute,China Electronics Technology Group Corporation,Shijiazhuang 050081,China)
出处
《兵器装备工程学报》
CAS
CSCD
北大核心
2023年第7期264-269,共6页
Journal of Ordnance Equipment Engineering
