车载捷联惯导系统陀螺漂移在线自标定方法研究  

Research on Gyro Drift Online Self-calibration Method for Vehicle strap-down Inertial Navigation System

作　　者：武萌[1] 汤霞清[1] 黄湘远[1] 尹训锋 

机构地区：[1]装甲兵工程学院,北京100072 [2]291917部队,北京102401

出　　处：《弹箭与制导学报》2015年第1期155-158,共4页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：为提高车载捷联惯导系统标定效率,提出了一种基于卡尔曼滤波的陀螺漂移在线自标定方法,该方法利用北向陀螺漂移的完全可观测性,在近似水平条件下,通过卡尔曼滤波估计出两个不同位置的等效北向陀螺漂移,然后利用该估计值和解算出的方位角计算出陀螺漂移实际值,实现陀螺漂移的在线自标定。仿真结果表明,该方法简单可行,标定精度能够满足车辆导航要求。In order to improve the calibration efficiency of vehicle strap-down inertial navigation system（ SINS）,a gyro drift on-line selfcalibration method is proposed by using Kalman filter. In the condition of the approximate level,this method uses completely observability of north gyro drift to acquire two different positions equivalent north gyro drift estimation value by Kalman filter. Therefore,the true value of gyro drift on-line self-calibration is obtained by two different positions estimation values of north gyro drift and calculated azimuth. A numerical example and its simulation result show that this method is feasible and its calibration precision is acceptable.

关 键 词：捷联惯导系统 陀螺漂移 卡尔曼滤波 在线标定 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]