捷联惯导系统的两种系统级标定方法研究  

Research on two systematic calibration methods forstrapdown inertial navigation system

作　　者：胡国欣 于古胜[1] HU Guoxin;YU Gusheng(No.91550 Troops of PLA,Dalian 116023,China)

机构地区：[1]91550部队,大连116023

出　　处：《遥测遥控》2020年第4期68-72,共5页Journal of Telemetry,Tracking and Command

摘　　要：针对现有捷联惯导的标定方法标定误差大,且部分参数的可观测性较差的问题,本文根据观测量的不同设计两种系统级标定方案,在误差传播模型的基础上,重新推导建立捷联惯导系统的系统级标定模型,分别建立以“速度误差”为观测量的24维大系统标定模型和以“速度误差+姿态误差”为观测量的12维降维标定模型,并设计不同的标定路径。仿真结果表明,两种标定方案都有较高的标定精度,且优势互补,能在不同的标定环境下配合使用。Aiming at the large calibration error of the existing calibration methods and the poor observability of some parameters,two systematic calibration schemes are designed this paper according to the different observed quantities.Based on the error propagation model,the systematic calibration model of Strapdown Inertial Navigation System is derived again,and the 24-dimensional large system calibration model with“velocity error”as the observed quantity and the 12-dimensional reduction calibration model with“velocity error+attitude error”as the observed quantity are established respectively,and then different calibration paths are designed.The simulation results show that the two calibration methods have high calibration precision and complementary advantages,and can be used in different calibration environments.

关 键 词：捷联惯导系统 系统级标定 标定路径 

分 类 号：U666.1[交通运输工程—船舶及航道工程]