高精度惯测组合标定误差分析  

Calibration Errors of High-precision Inertial Measurement Units

作　　者：张红良[1] 武元新[1] 查亚兵[1] 吴美平[1] 胡小平[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,湖南长沙410073

出　　处：《国防科技大学学报》2010年第1期142-146,共5页Journal of National University of Defense Technology

基　　金：国家自然科学基金资助项目(60604011)

摘　　要：惯性测量组合(IMU)标定误差分析对于惯性导航系统性能评估、误差分配和器件设备选型具有重要意义,但目前关于高精度IMU标定误差的定量讨论很少。借助四元数旋转矢量理论建立了转台轴正交度误差和转角控制误差模型,结合IMU测量误差的表示,定量分析了一种典型多位置标定编排方式下的标定误差。仿真结果和捷联惯性导航系统的试验结果证实了标定误差分析的正确性。Calibration error analysis of inertial measurement units （IMU） is significant for evaluating navigation system performance, allotting errors, and choosing devices in projects. However, few researches on IMU calibration give the quantificational forms of calibration errors. Based on quatemion, this paper construets an error model about axes perpendicularity errors and angle control errors of a turntable. Considering measurement errors of gyroscopes and accelerometers in an IMU, we derive the calibration parameters＇ errors using a typical multi-positlon calibration method. Finally simulations and calibration tests of a laser gym strapdown inertial navigation system are performed to verify the calibration error analysis.

关 键 词：惯测组合(IMU) 标定误差 转台 四元数 

分 类 号：U666.1[交通运输工程—船舶及航道工程]