无陀螺捷联惯导系统的安装误差辨识方法  

An Identification Method for Installation Errors of GFSINS

作　　者：吴俊伟[1] 李绵伟[1] 王小旭 金春竹[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《测试技术学报》2008年第5期412-418,共7页Journal of Test and Measurement Technology

基　　金：国家"863"资助项目(2008AA09Z204)

摘　　要：根据无陀螺捷联惯导系统(GFSINS)的工作原理,推导了理想条件下和有加速度计安装误差条件下的角速度解算方程;推导了加速度计的安装位置误差所产生的加速度计的输出误差;在静基座条件下,通过旋转惯性测量单元坐标轴的方法改变其放置位置,建立了加速度计安装位置误差的辨识公式;数字仿真结果表明,所采用的加速度计安装误差的辨识方法有效,对辨识得到的安装误差进行补偿可以显著地提高角速度的解算精度.Based on the operation principle of GFSINS, angular solution equations are derived respec- tively in the cases of ideal conditions and existing installation errors. The accelerometer output error resulting from the installation errors of accelerometers is analyzed. An identification formula of the accelerometer installation error is built by means of rotating the axes of the inertial measurement unit （IMU） to change its locating position on the motionless base. Numerical simulation results show that the identification method is effective and the solution precision of angular can be improved evidently by compensating the identified installation error.

关 键 词：无陀螺捷联惯导系统 惯性单元 安装误差 加速度计 参数辨识 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]