激光陀螺惯性测量单元系统级标定方法  

Systematic calibration method for RLG inertial measurement unit

作　　者：吴赛成[1] 秦石乔[1] 王省书[1] 胡春生[1] 

机构地区：[1]国防科技大学光电科学与工程学院,长沙410073

出　　处：《中国惯性技术学报》2011年第2期185-189,共5页Journal of Chinese Inertial Technology

基　　金：高等教育学校博士学科点专项科研基金(20104307110021)

摘　　要：传统的分立标定方法必须依靠高精度的转台提供姿态基准,不满足带减振器的惯性测量单元(IMU)和现场标定需求。首先建立了附加约束条件的陀螺和加速度计安装坐标系数学模型,根据陀螺和加速度计的输出误差方程,从惯性导航基本误差方程出发推导了惯性测量单元的系统级误差参数标定Kalman滤波模型,该模型包含了陀螺和加速度计零偏、比例因子、安装误差在内共21维标定误差状态变量,且仅以速度解算误差为观测量。依据所建立的模型和设计的标定路径对此系统级标定方法进行了仿真,仿真结果表明,陀螺和加速度计零偏估计精度分别优于0.005o/h和0.005 mg,安装误差估计精度优于1′′,比例因子误差优于1ppm,满足高精度惯导系统的标定需求。Traditional calibration method must use a precise turntable as its attitude reference,so it doesn＇t satisfy the IMU calibration with shock absorbers and field calibration requirements.Firstly,the reference frame of RLGs and accelerometers with additional restriction conditions is established according to the output error equation of the RLGs and accelerometers.Then a systematic calibration algorithm of the RLGs IMU is proposed based on a Kalman filter which included 21-dimensional calibration-error state parameters including scale factor errors,biases,misalignments errors of RLGs and accelerometers,and this filter only uses the velocity errors as observational vectors.The simulation results indicate that the accuracy of estimated biases of RLGs and accelerometers exceeds 0.005 °/h and 0.005 mg respectively,while the accuracy of misalignment angles exceeds,and the correcting accuracy of scale factor errors exceeds 10-6,so the accuracy of this method satisfy the requirements of high precision inertial navigation system.

关 键 词：激光陀螺 惯性测量单元 系统级标定 误差参数辨识 KALMAN滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]