激光捷联惯导系统的一种系统级标定研究  

A Systematic Calibration Research for Laser Strapdown Inertial Navigation System

作　　者：陈远才[1] 万彦辉[1] 谢波[2] 苏鑫[1] 

机构地区：[1]中国航天科技集团公司第十六研究所,西安710100 [2]西北工业大学自动化学院,西安710072

出　　处：《导弹与航天运载技术》2012年第6期38-42,共5页Missiles and Space Vehicles

摘　　要：针对激光捷联惯导系统惯性器件的12个误差参数,包括陀螺常值漂移和加速度表零偏以及陀螺和加速度表标度因数误差,通过研究系统误差模型在惯导处于旋转运动下的可观测性,提出一种基于UDUT分解滤波算法的系统级标定方案。该方案适用于小误差量的精确标定,首先通过旋转运动使陀螺和加速度表的标度因数误差以及加速度表的零偏可观测,然后在此基础上通过多位置翻转使陀螺的常值漂移可观测,从而最终实现12个误差参数的完全可观测。仿真结果显示,在1 h内12个误差参数均已稳定收敛到真值附近,而且方差较小,表明该方案可行。For the twelve error parameters of Inertial Navigation System（IMU） with Laser Strapdown Inertial Navigation System （LSINS）, including gyro constant drifting, accelerator zero bias and scale factor error of gyros and accelerators, a systematic calibration method based on algorithm of UDU^T filtering is brought forward by investigating the observability of system error model when the IMU whirling. This calibration method could be used to precisely calibrate error parameters of small extent. First, the scale factor error of gyros and accelerators and the zero bias of accelerators are made observable by whirling the instrument. Then, the gyro constant drifting is made observable by making several position turnovers. Consequently, the twelve error parameters are completely observable Simulation results show that all the twelve error parameters were converged almostly to true value with a small variance in one hour, indicating this calibration method is doable.

关 键 词：激光捷联惯导 可观测性 UDUT分解滤波 系统级标定 

分 类 号：V448[航空宇航科学与技术—飞行器设计]