捷联惯导系统全状态量现场标定方法  

Field calibration method of full state variables for strapdown inertial navigation system

作　　者：张睿 奔粤阳 刘利强 王坤 侯靓 邱天 ZHANG Rui;BEN Yueyang;LIU Liqiang;WANG Kun;HOU Liang;QIU Tian(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,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

出　　处：《系统工程与电子技术》2023年第8期2521-2532,共12页Systems Engineering and Electronics

基　　金：国家重点研发计划(2021YFC2801300);高技术船舶项目(MC-201919-C11);GF基础科研计划(JCKY2019604D003)资助课题。

摘　　要：捷联惯导系统的现场标定使用系统级标定方法,由于可观测度较小的状态量不能用卡尔曼滤波辨识估计误差参数,因此提出一种基于状态量正交基的可观测度计算方法,并根据此方法设计出一种提高全状态量可观测度的转位方案。在转动过程中测量每个时刻静基座惯性导航的速度误差,使用卡尔曼滤波器辨识出全状态量误差参数。经实验验证,对比未设置转位方案的现场标定结果,所提现场标定方法不仅能提高全状态量可观测度,而且对系统级标定的结果也有提高,具有较好的工程实用性。The field calibration of strapdown inertial navigation system usually uses the system-level calibration method.Since the state variables which have small observability degrees cannot identify the estimation error parameters by Kalman filter,a calculation method which is observability degree based on the orthogonal basis of state quantity is proposed,and a transposition scheme to improve the observability of all state variables is designed according to this method.In the process of rotation,the velocity error of the static base inertial navigation is measured at each time,and the Kalman filter is used to identify the error parameters of all quantities of state.The experimental results show that compared with the field calibration results without transposition scheme,the field calibration method can not only improve the observability degrees of the all quantities of state,but also improve the results of system-level calibration,which has good engineering practicability.

关 键 词：现场标定 线性时变系统 可观测度 标定方案 

分 类 号：U666.12[交通运输工程—船舶及航道工程]