基于飞行数据反演解算的 SINS空中标定技

In-Flight Calibration of SINS Based on Inverse Solution of Flight Data

摘要:

针对机载 SINS定期拆卸并进行实验室标定存在的维护效率低、标定周期不合理的问题,提出一种基于 GPS/SINS组合导航仿真飞行数据反演解算的免拆卸空中标定方法。在对飞行数据拟合插值的基础上,利用飞行数据序列和 SINS反演算法解算出惯性器件的输出增量,以引入误差后的惯性器件输出值作为 SINS的输入进行纯惯导解算,并以 SINS和 GPS输出的速度误差作为系统级标定 Kalman滤波器的观测量,对惯性器件误差项进行滤波估计。仿真结果表明,这种标定方法可较好地估计出 SINS中的误差项,实现了 SINS的免拆卸标定,降低了对 SINS定期标定的要求。

Abstract:

Aiming at the problem of low maintenance efficiency and unreasonable calibration period for regular disassem.bly and laboratory calibration of airborne SINS, a disassembly-free in-flight calibration method based on inverse solutionof flight data from GPS/SINS integrated navigation simulation was proposed. Based on the fitting and interpolation of theflight data, the flight data sequences and SINS inverse algorithm were used for solving the output increment values of theinertial measurement units. The output increment values with errors were used as the input of the SINS for pure inertialnavigation solution, and the velocity errors between SINS and GPS output were used as the Kalman filter’s observations in system-level calibration process, so as to estimate the error items in the SINS. The simulation results showed that with theproposed calibration method, the error terms in SINS can be estimated well, the disassembly-free calibration method canbe implemented, and the requirements for periodic calibration of SINS are reduced.