基于十二加速度计的GFSINS安装误差标定及补偿  

Calibration and compensation for installation errors of GFSINS with twelve-accelerometers

作　　者：崔敏[1] 马铁华[1] 张慧[1] 曹咏宏[1] 

机构地区：[1]仪器科学与动态测试教育部重点实验室,中北大学,太原030051

出　　处：《中国惯性技术学报》2009年第4期413-418,共6页Journal of Chinese Inertial Technology

基　　金：武器装备预研基金项目(9140A17080307BQ0409)

摘　　要：针对高速旋转弹姿态解算精度不高的问题,提出用微小型加速度计构成无陀螺微惯性测量单元GFMIMU,为旋转弹提供完整的导航信息。设计并制作了一种十二加速度计的惯组实物模型,并在此基础上分别提出了方向安装误差角及位置安装误差的标定方案。根据存在安装误差的角速度解算精确数学模型,采用一种优化算法——最小二乘优化迭代方法,可以精确地补偿加速度计的安装误差。仿真结果表明,经补偿后误差被有效抑制,在20s内姿态角的累积误差均能保证在±1以内,满足高精度姿态解算要求,具有一定实际应用价值。A gyro-free micro-inertial measurement unit （GFMIMU） composed of micro-accelerometers only was put forward to provide a comprehensive navigation information for spinning projectile. A physical model device of twelve-accelerometer＇s inertial measurement unit was designed and manufactured to solve the problem of low precision in high-speed projectile＇s attitude angular estimation. And methods were proposed to calibrate the misalignment angle and position installation error. Based on the mathematical model of angular speed algorithm with installation errors, the nonlinear least squares was used to compensate accelerometers＇ installation errors. Simulation result shows that this method can suppress installation errors effectively and acquire the attitude with high efficiency. Attitude cumulative error is within ＋1° in 20 s, and this meet the requirement of high-precision attitude estimation.

关 键 词：十二加速度计 安装误差 标定补偿 优化算法 

分 类 号：U666.1[交通运输工程—船舶及航道工程]