捷联惯导系统小角度简易标定方法及仿真研究  

A Simple Calibration Method with Small-Angle Excitation of Strapdown Intertial Navigation System

作　　者：高贤志 林玉荣[2] 邸静楠 张咏兰[3] GAO Xian-zhi;LIN Yu-rong;DI Jing-nan;ZHANG Yong-lan(Military Representative Office of Navy in Beijing Area,Beijing 100074,China;Department of Control Science and Engineering,Harbin Institute of Technology,Harbin Heilongjiang 150001,China;Beijing Control and Electronic Technology Institute,Beijing 100038,China)

机构地区：[1]海装驻北京地区某军事代表室,北京100074 [2]哈尔滨工业大学控制科学与工程系,哈尔滨150001 [3]北京控制与电子技术研究所,北京100038

出　　处：《计算机仿真》2020年第10期29-31,82,共4页Computer Simulation

摘　　要：捷联惯导系统误差标定技术是捷联惯导应用的重要组成部分。目前工程中加速度计参数随时间变化较大,因此对加速度计参数进行标定是保证捷联惯导系统长期使用性能的必要措施。传统标定技术是在地面进行多位置大幅翻转实现,因此在进行标定时需将惯导系统从飞行器上拆下。为了便于后期使用及维护,提出一种捷联惯导系统标定算法,通过小角度激励进行加速度计误差参数辨识,并解决地面标定过程中飞行器移动困难带来的实际操作问题。上述算法基于模观测原理,采用非线性拟合方法及最小二乘方法,计算过程无须知道载体当前姿态,仅采用加速度计数据进行标定计算,不引入其它误差源。通过对所提出的算法进行仿真验证,表明上述算法能够满足实际使用需求。The error calibration is one of the most important part of strapdown inertial navigation system(SINS) application. Traditional technology realizes the calibration by multi position and large scale turning of SINS, which needs to remove SINS from the vehicle. In order to facilitate the long-time use and the following maintenance, a simple calibration method of SINS is proposed in this paper to solve operational problems caused by weight and volume of the vehicle, which can identify the accelerometer error parameters by only small-angle excitation. Euclidean norm observation was introduced to calibrate accelerometer errors using the nonlinear fitting and least square method with no data other than accelerometer data used, and there is no need to obtain the current attitude of the system. Finally, the simulation was established and the effectiveness of the proposed method is verified.

关 键 词：捷联惯导系统 简易标定 模观测原理 

分 类 号：TJ765.[兵器科学与技术—武器系统与运用工程]