捷联惯导系统的一种系统级标定方法  

Systematic Calibration Method for Strapdown Inertial Navigation System

作　　者：董春梅[1] 陈希军[1] 任顺清[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

出　　处：《导航定位与授时》2016年第4期74-80,共7页Navigation Positioning and Timing

基　　金：十二五预研项目(51309050202)

摘　　要：针对三轴转台定位精度高的特点,设计了一种基于速度误差和姿态误差角作为观测量的系统级标定方法。在捷联惯性测量组合(SIMU)的导航误差方程和惯性器件误差参数模型的基础上,推导了导航速度误差和姿态误差角与IMU的误差参数所呈现的关系,依此给出了最简单的位置编排准则。通过观测不同位置下捷联惯导系统的速度误差变化率和姿态误差角,辨识IMU的误差模型系数,进而达到高精度捷联惯导系统标定目的。Aiming at high precision positioning feature of the three-axis turntable,a new kind of systematic calibration method is presented based on observing velocity error and attitude angle error. Based on the navigation error equation of laser strapdown inertial navigation system and error model of inertial measurement unit,the relationship between velocity error and IMU error is deduced,and then the simplest location layout principles is given. By observing velocity error and attitude angle error of navigation system in every position,the IMU error model coefficients is identified,so the goal to calibrate high precision strapdown inertial navigation system is achieved.

关 键 词：捷联惯导 误差模型 系统级标定 翻滚试验 

分 类 号：U666.1[交通运输工程—船舶及航道工程]