一种基于模观测的MIMU标定新方法  

Based on observations MIMU mold new calibration method

作　　者：戴邵武[1] 王克红[1] 戴洪德[1] 

机构地区：[1]海军航空工程学院控制工程系,山东烟台264001

出　　处：《自动化与仪器仪表》2014年第11期102-106,共5页Automation & Instrumentation

基　　金：中国博士后科学基金项目(2013m532173);航空科学基金项目(20135184007)

摘　　要：为减少MIMU标定对转台的依赖,降低标定对转台精确姿态控制的要求,通过分析MIMU转动过程中模观测标定原理,将导航姿态解算引入到MIMU的标定,提出了一种MIMU标定新方法。该方法在MIMU转动过程中采用四元数进行姿态解算,静止时列写MIMU标定模观测非线性方程;采用动静相结合的连续标定编排方案实现待标定参数的完全激励,并将基于Logistic函数的改进PSO算法应用于MIMU的标定。仿真结果表明所提出的MIMU标定新方法在不依赖转台的情况下能够有效地实现MIMU的标定,且改进PSO算法有效地提高了MIMU的标定精度。In order to reduce the dependence of MIMU calibration on turntable and reduce the calibration requirement for turnta- ble precise attitude control, by analyzing the mode observation principle which existed in the process of MIMU rotation, a new MIMU calibration method was proposed by introducing the navigation attitude calculation to the MIMU calibration. During the pro- cess of MIMU rotation, the new calibration method used the quatemion to realize the attitude calculation while the mode observa- tion nonlinear equation was written at static. And the MIMU calibration parameters were completely motivated by the continuous calibration scheme which combined the static position and dynamic rotation and an improved PSO algorithm which was proposed by introducing the Logistic function was applied to the MIMU calibration. Calibration results show that the proposed MIMU calibra- tion method can effectively realize the calibration of MIMU without dependence the turntable. And the improved PSO algorithm can effectively improve the calibration precision of MIMU.

关 键 词：模观测 MIMU标定 姿态解算词 四元数 粒子群优化 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]