一种光纤IMU的双轴非定向标定方法  

Calibration method for FOG IMU without orientation based on two-axis indexing

作　　者：聂梦馨 吕品[1] 赖际舟[1] 陈昱润 

机构地区：[1]南京航空航天大学导航研究中心,南京210016

出　　处：《电子测量技术》2014年第8期123-128,共6页Electronic Measurement Technology

基　　金：国家自然科学基金(61174197);航空科学基金(2012ZC52045);江苏省普通高校研究生科研创新计划(CXLX11_0201);南航博士学位论文创新与创优基金(BCXJ11-04)项目

摘　　要：针对光纤惯性组件确定性误差的特性,建立了标定的数学模型。由于光纤组件标度因数的非线性,使用多项式误差模型替代了经典的常数误差模型。基于建立的模型提出了一种双轴转位机构动静态混合标定方案,使用八位置静态标定方法标定陀螺零偏,采用三轴12个速率的旋转标定方法标定陀螺标度因数误差和非正交耦合误差。针对加速度计采用二十四位置的重力场静态翻滚标定方案,最后使用多项式拟合的数据处理方法计算和补偿光纤惯性组件的标度因数误差。通过实验和补偿结果表明,此方案有效标定了光纤惯性组件的各项确定性误差。Based on the characteristics of fiber optic gyroscope （FOG） inertial measurement unit （IMU） deterministic error,a calibration model is established. Considering the nonlinear scale factor of FOG IMU, polynomial error model is used instead of the classical constant error model. According to the calibration model,a calibration method using two- axis indexing is presented, combining position and rotation. An eight-position experiment method is presented to calibrate the gyro bias; a twelve-rate rotation around three-axis experiment method is presented to calibrate the gyro scale factor and installation error; a twenty-four-position in gravitational fiel.d experiment method is presented to calibrate the accelerometer. Besides, the error correction algorithm is proposed based on the least-square polynomial fitting method. The experiment and compensation results prove that the calibration method can accurately determine the definite error coefficients of FOG IMU.

关 键 词：光纤陀螺 惯性组件 标定 双轴 非定向 

分 类 号：TN253[电子电信—物理电子学]