一种新型惯性/GPS测姿组件安装标定方法  

A Novel Calibration Method for IMU/GPS ADU Mount Bias

作　　者：章大勇[1] 吴文启[1] 吴美平[1] 逯亮清[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：《压电与声光》2010年第3期364-367,371,共5页Piezoelectrics & Acoustooptics

基　　金：国家"八六三"计划基金资助项目(2006AA12Z319);高等学校博士学科点专项科研基金资助项目(20069998009)

摘　　要：研究了惯性测量组件和GPS测姿组件安装偏差关系的标定算法,利用双差载波相位测量内蕴的矢量转换关系对安装偏差矩阵进行估计。首先,分析了双差载波相位观测方程,将其转换为已知GPS基线矢量和对应双差载波相位观测在惯性测量组件载体系中的投影,将安装偏差矩阵表示为矢量方程参数;其次,根据矢量方程特性,将其归结为Wahba问题,并利用QUEST方法对耦合噪声条件下的安装偏差矩进行最优估计阵;最后利用仿真数据和实验数据验证了标定算法,并与其他方法进行了比较。分析表明,标定算法在精度和鲁棒性上都得到了提高,有很强的实用性。A novel calibration method of mechanical mount bias between inertial measurement unit（IMU） and GPS attitude determination unit（ADU） is presented in this paper.The error of the mount bias matrix has been evaluated through the interior vector rotation rule between GPS baselines and double difference carrier phase measurement.First,the double difference carrier phase measurement equations are analysed and the projection of double difference measurement corresponding to GPS antenna baselines is established within the inertial unit body frame.The mechanical mount bias is denoted as rotation bias matrix parameter embedded in vector measurement equations.Then,by analogy to vector based attitude determination,the estimation of bias matrix is ascribed to Wahba problem and the QUEST algorithm is applied to find the optimal solution.In the end,the simulation and the experiment are proved to validate the calibration algorithm and compare with other algorithms.The result shows that the novel algorithm improves both the precision and robust of the calibration progress and has high practicability.

关 键 词：惯性测量组件 GPS测姿组件 安装偏差标定 双差载波相位观测 Wahba问题 

分 类 号：U666.1[交通运输工程—船舶及航道工程]