精密离心机的惯性组合加速度计的参数标定方法  

Calibration of accelerometers fixed in SINS on precision centrifuge

作　　者：王世明[1] 王翌 伊国兴[1] 任顺清[1] 鲁金瑞[1] 

机构地区：[1]哈尔滨工业大学空间控制与惯性技术中心,哈尔滨150080 [2]北京自动化控制设备研究所,北京100074

出　　处：《中国惯性技术学报》2013年第2期264-270,共7页Journal of Chinese Inertial Technology

基　　金：十二五预研项目(51309050202)

摘　　要：为了实现应用精密离心机对捷联惯导系统不拆分整体标定时各加速度计误差模型系数进行精确辨识,分析了可能影响加速度计标定精度的离心机误差源进而建立了相应的坐标系。在考虑各加速度计与反转平台轴线距离的情况下,应用齐次变换法计算了各加速度计各轴实际的比力输入,结合给定的加速度计误差模型,设计了一种可辨识误差模型中全部二阶误差模型系数的测试方法。仿真结果表明,该方法经修正离心机误差后可以有效地提高所有误差模型系数的标定精度,并能给出各加速度计与反转平台轴线的距离。仿真还分析了离心机误差对标定精度的影响,结果表明:离心机误差项主要影响1号加速度计KF、KP、KPP的标定精度,而对于KII、KIO的标定无影响;另外主要影响2号加速度计KF,KI,KII的标定精度,以及3号加速度计KF、KO的标定精度。In order to accurately identify the error model coefficients of various accelerometers when using precision centrifuge to calibrate strapdown inertial navigation system without disassembling, the centrifuge error sources which may affect the accelerometer calibration accuracy were analyzed and the corresponding coordinate systems were established. The actual specific force input along each axis of each accelerometer was calculated by homogeneous transformation in consideration of the distances from accelerometers to the axis of counter-rotating platform. By combining with the given accelerometer error model, a measurement method which could identify all the second-order model coefficients was put forward. The simulation proves that this method can effectively increase the calibration accuracy of all the error model coefficients after compensating the centrifuge errors and can estimate the distances from the accelerometers to the axis of counter-rotating platform. The impacts of centrifuge errors on calibration accuracy were also analyzed by simulation, and it is shown that the centrifuge errors mainly affect the calibration accuracy of KF, Ke, Kpp of NO. 1 accelerometer, the KF, K1, Kll of No.2 aecelerometer, the KF, Ko of No.3 accelerometer, and have no effects on Ku, Kio of No. 1 accelerometer.

关 键 词：捷联惯导系统 精密离心机 加速度计标定 测试方法 

分 类 号：U666.1[交通运输工程—船舶及航道工程]