基于速度误差的系统级标定方法

Systematic Calibration Method Based on Velocity Error

摘要:

为降低捷联惯导系统误差参数标定过程对高精度转台的要求,提出一种基于速度误差的系统级标定方法。在惯性器件误差参数模型和捷联惯导系统误差方程的基础上,以惯导系统转动前后的导航速度误差为观测量,编排设计旋转方案,对加速度计和陀螺的误差参数进行拟合标定。仿真结果表明,与传统的分立式标定方法相比,在保证标定精度的同时,对高精度转台的要求更低,可应用于外场标定。

Abstract:

In order to reduce the demand of precise turntable in the calibration of error parameters in strapdown inertial navigation system, a systematic calibration method based on velocity error was proposed. Based on the model of inertial sensors and error equation of SINS, the velocity errors of inertial navigation system before and after rotation were used as observational vectors. Then the rotation scheme was designed to calibrate the error parameters of inertial sensors. The simulation results showed that, compared with the traditional calibration method, systematic calibration method has lower demand of precise turntable which can be applied to the field calibration while maintaining the calibration accuracy.