捷联式微惯性导航系统的标定方法  

Calibration for Strapdown Micro Inertial Navigation System

作　　者：方靖[1] 顾启泰[1] 丁天怀[1] 

机构地区：[1]清华大学精密仪器与机械学系,北京100084

出　　处：《弹箭与制导学报》2007年第5期29-32,共4页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：设计了微惯性导航单元(MINU)结构,采用翻滚法和转台法,建立数学模型,分别标定加速度计和陀螺的零位偏差、标度因子及安装角误差。提出一种基于虚拟噪声的现场最优标定方法,运用卡尔曼滤波技术估计并补偿加速度计和陀螺零偏。实验室静态实验和车载实验结果均证明了上述方法的正确性和可行性,并且快速、易于实现,能有效提高导航精度,适用于短时间、低中精度导航系统。The structure of micro-inertial navigation unit （MINU） was designed. Mathematical models of rolling method and rotating platform method were set up separately to calibrate zero bias, scale factor and installation angle error of accelerators and gyroscopes. An on-field optimal calibration method based on fictitious noise was presented. Kalman filter was used to estimate and compensate zero bias of accelerators and gyroscopes. The results of static and vehicle tests show the validity and feasibility of the above methods. The calibration methods are characterized by celerity and easy to implement, and could improve navigation accuracy. They are suitable for short-time, low or middle precision navigation system.

关 键 词：微惯性导航系统(MINS) 标定 最优估计 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]