微型导航系统中的陀螺漂移在线标定及补偿方法  

Online calibration and compensation of gyro drift in a micro navigation system

作　　者：何昆鹏[1] 曾建辉[1] 梁海波 王曦[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：《哈尔滨工程大学学报》2011年第1期62-68,共7页Journal of Harbin Engineering University

基　　金：中央高校基本科研业务经费专项资金资助项目(HEUCF100424)

摘　　要：为了提高由MEMS惯性器件构成的微型导航系统的姿态、航向测量精度,提出了在线标定和补偿陀螺常值漂移的方法.首先将倾角传感器SP5003测量的水平姿态与MEMS惯性系统测量的水平姿态进行信息融合,同时估计出2个水平陀螺的常值漂移,在得到精确的水平姿态基础上,将MEMS惯性系统与电子罗盘HMR3000进行组合,在线估计方位陀螺常值漂移,以提高系统的方位测量精度.在三轴摇摆台上的试验结果表明,该方法能快速地估计出3个陀螺的常值漂移,补偿陀螺漂移后的组合导航系统能较好地跟踪水平姿态和航向的变化,60 s内最大误差小于0.5°.In order to improve the attitude and precision of the MEMS INS,a method of online calibration and compensation for constant gyro drift was presented.By combining the INS with the tilt sensor SP5003,the accuracy of the horizontal attitude was fused.At the same time,the constant drift error of gyros from two horizontal axes was estimated online.Based on the accurate measurement of the horizontal attitude,the INS was integrated with the electronic HMR3000 compass to estimate the constant drift error of the yaw gyro,which improved the accuracy of yaw measurements.It was indicated from a swaying test that the constant drift errors from the three axes were rapidly estimated,and the integrated system which has been compensated can track the real angle of attitude and yaw very well,the maximal error being less than 0.5° in 60 s.

关 键 词：惯性导航系统 倾角传感器 电子罗盘 卡尔曼滤波 陀螺漂移 

分 类 号：U666.1[交通运输工程—船舶及航道工程]