空间稳定系统加速度计在线标校  

Online calibration and compensation of accelerometer assembly for space-stable inertial navigation systems

作　　者：何虔恩[1] 高钟毓[1] 吴秋平[1] 

机构地区：[1]清华大学精密仪器与机械学系,北京100084

出　　处：《中国惯性技术学报》2012年第4期491-495,500,共6页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目(41074049)

摘　　要：三轴加速度计是惯性导航系统的核心元件之一,其误差对导航精度具有重要影响。提出一种适用于空间稳定系统的加速度计在线标校方法。在三轴加速度计十二系数误差模型基础上,推导比力的模误差与加速度计误差系数之间的关系式。设计一个五维静态Kalman滤波器进行加速度计组合误差系数的在线标定,并讨论了加速度计组合误差的补偿方法。计算机仿真和多组试验结果表明:采用所提方法,空间稳定系统加速度计误差的标校精度达到1×10-5g量级,所用加速度计的长期稳定性优于1.5×10-5g,对实现高精度导航具有实用价值。Tri-axial accelerometers are one of the key components in inertial navigation systems（INS）, whose errors impose important effects on navigation precision. A method of online calibrating and compensating accelerometers is presented for space-stable INS. Based on the twelve-coefficient model of tri-axial accelerometers, the norm error of specific force is derived. A static Kalman filter of five dimensions is designed to calibrate the synthesized error coefficients of accelerometers, and a method of compensating accelerometer synthesized errors is discussed. Results of computer simulations and multi-group experiments show that, with the presented method, the calibration and compensation precision of accelerometer can reach 1×10^（-5） g for space-stable systems, and the long-term stability of the used accelerometers is better than 1.5 × 10^（-5） g, which are of practical value in realizing high precision navigation.

关 键 词：空间稳定系统 三轴加速度计 在线标校 静态Kalman滤波器 

分 类 号：U666.1[交通运输工程—船舶及航道工程]