一种基于相关特性的低精度IMU初始方位角对准方法研究  

Research on initial alignment of low-precision IMU based on correlation property

作　　者：何东旭[1] 张瑞哲 葛磊 HE Dongxu;ZHANG Ruizhe;GE Lei(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China;Beijing Institute of Computer Technology and Application,Beijing 100854,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,黑龙江哈尔滨150001 [2]北京计算机技术及应用研究所,北京100854

出　　处：《应用科技》2023年第1期56-60,共5页Applied Science and Technology

摘　　要：为降低陀螺制造成本,本文针对只需定向而对定位精度要求不高的捷联惯性导航系统,提出了一种两位置对准改进优化方法。该方法基于对准误差与水平X、Y轴陀螺随机噪声在东向投影的相关性,且与惯性导航设备所处的方位角有关的原理,通过在精对准时将惯性测量单元(IMU)转到0°和18 0°,降低Y、Z轴的陀螺精度对初始对准精度的影响,从而实现以较低精度陀螺完成精确初始对准的目的。最终进行了相关仿真试验和实物测试,结果表明,本文提出的方法在Y、Z轴陀螺精度降低50%时,仍能保持初始对准精度不变,进一步验证了本文所提方法的有效性。Aiming at the strapdown inertial navigation system that only needs orientation but does not require high positioning accuracy,this paper proposes an improved optimization method for two-position initial alignment to reduce the manufacturing cost.The method is based on the principle that the alignment error is related to the east projection of gyro random noise in the X axis and Y axis,and the azimuth angle of the inertial measurement unit(IMU).By turning the IMU to 0°and 180°during refined initial alignment,the influence of gyro accuracy on the initial alignment accuracy in the the Y axis and Z axis can be reduced,so that the purpose of completing accurate initial alignment with a lower-accuracy gyro can be achieved.Relevant simulation and actual tests have been carried out,indicating that the method proposed in this paper can still maintain the initial alignment accuracy when the accuracy of the gyro in the Y axis and Z axis is reduced by 50%,which verifies effectiveness of the method proposed in this paper.

关 键 词：初始对准 粗对准 精对准 误差分析 随机游走 捷联惯导 随机噪声 方位角 

分 类 号：U666.12[交通运输工程—船舶及航道工程]