IMU视轴偏心角的两步法检校  

Two-step Calibration of IMU Boresight Misalignment Angles

作　　者：刘军[1] 王冬红[2] 伍洋[1] 刘志龙[1] 

机构地区：[1]解放军信息工程大学地理空间信息学院,河南郑州450052 [2]北京跟踪与通信技术研究所,北京100094

出　　处：《海洋测绘》2015年第2期33-36,共4页Hydrographic Surveying and Charting

基　　金：国家自然科学基金(40901230)

摘　　要：建立了IMU视轴偏心角模型,重点研究了两步法偏心角检校中基于欧拉角、四元数和微分旋转矩阵的偏心角解算方法,并推导了欧拉角和单位四元数两种模型的线性化公式。实验结果表明,欧拉角模型具有最高的解算精度,四元数模型具有最强的适应性,二者均适用于IMU视轴偏心角的检校。微分矩阵模型仅在偏心角为小角度时有效,是一种近似方法,应谨慎使用。The math model for IMU misalignment angles is built up based on rotation matrices,then the computation scheme of misalignment angles using two-step calibration method based on Euler angles,quaternion and differential rotation matrix is discussed,and the linearized error equations of two rigorous misalignment math models described by Euler angles and quaternion are derived. The proposed algorithm is tested using two DMC datasets,and experimental results showthat misalignment model described by Euler angles has the best accuracy;the unit quaternion approach is of the strongest adaptability. The differential matrix approach is valid only when the misalignment angles are very small,so it is an approximate method and must be used with great care.

关 键 词：遥感影像 偏心角 外方位元素 旋转矩阵 欧拉角 四元数 

分 类 号：P237[天文地球—摄影测量与遥感]