空间稳定惯性导航系统中陀螺仪漂移模型系数的辨识  

Determining Drift Model Coefficients for Gyroscope in the Space-Stable Inertial Navigation Systems

作　　者：李中[1] 庄良杰[1] 杨功流[1] 

机构地区：[1]天津航海仪器研究所,天津300131

出　　处：《天津大学学报》2006年第B06期138-142,共5页Journal of Tianjin University(Science and Technology)

摘　　要：陀螺仪的漂移误差是空间稳定惯性导航系统的主要误差源,对漂移模型系数的准确辨识是保证系统实现长时间、高精度自主导航的关键．独立标定陀螺仪的数据无法全面反映陀螺仪在系统中的特性,必须在系统中实现对陀螺仪漂移模型系数的辨识,为此,分析了系统稳定平台坐标系随动于陀螺坐标系的运动过程,推导出稳定平台的运动微分方程,建立了以陀螺仪漂移模型系数为状态变量的系统方程；以平台上加速度计的输出为观测量,采用扩展卡尔曼滤波器对陀螺仪漂移系数进行估计．仿真实验结果表明,新的陀螺仪漂移系数辨识方法是有效的和准确的．The drift error of gyroscopes is the main error resource of the space-stable inertial navigation systems. Precisely determining the drift model coefficients is the key to successful long-time operation with the navigation systems. Because the off-line calibration results can not properly illustrate the characteristics of the online gyroscopes, identifying the drift error of gyroscopes when they are in the systems is necessary. In a spacestable system, the platform moves after the gyroscopes. And the movement can be described with some differential equations. Based on these differential equations, a set of system state equations are build, with the drift model coefficients of gyroscopes as the state variables. Using the outputs of the accelerometers on the platform as the measurement values, an extended Kalman filter can estimate the drift model coefficients of gyroscopes. The effectiveness of the new identification method is evaluated through simulation. It is accurate enough to support the navigation systems operating successfully.

关 键 词：空间稳定惯性导航 陀螺仪 漂移模型 扩展卡尔曼滤波器 

分 类 号：U666.1[交通运输工程—船舶及航道工程]