惯导平台误差快速自标定方法研究  

Research on Rapid Self-Calibration Method for Inertial Platform

作　　者：曹渊[1] 张士峰[1] 杨华波[1] 蔡洪[1] 

机构地区：[1]国防科技大学航天与材料工程学院,长沙410073

出　　处：《宇航学报》2011年第6期1281-1287,共7页Journal of Astronautics

摘　　要：针对惯导平台误差系数标定问题提出了一种平台连续旋转条件下的误差系数自主标定方法。建立了基于框架角动力学方程的平台连续翻滚模型,平台旋转时,系统的框架角和加速度计输出包含了陀螺仪、加速度计的全部误差。利用李导数及输出灵敏度理论全面分析了连续翻滚路径下惯导系统的可观测性。提出了一种结合传统多位置试验的平台连续翻滚自标定方案。仿真结果表明该方案可以在较短的时间内完成平台系统误差系数的高精度标定。A new continuous self-calibration method is presented to solve the problem of calibration for inertial platform.The continuous tumbling model for inertial platform is established based on gimbal-angles＇ dynamics equations.The gimbal-angles and the outputs of accelerometers contain all error coefficients of gyroscopes and accelerometers.The theory of Lie derivative and output sensitivity are used to analyze the observability of system during continuous tumbling.A new calibration scheme integrated traditional multi-position tests with continuous tumbling of inertial platform is presented.Simulation results show that the proposed scheme can calibrate error coefficients rapidly with high accuracy.

关 键 词：惯导平台 框架角 连续翻滚 自标定 可观测性 

分 类 号：TN957.51[电子电信—信号与信息处理]