捷联惯性传感器多余度配置的误差标定技术研究

Study of error calibration techniques for configuration with strap-down inertial sensor redundant

对捷联惯性传感器多余度配置系统的标定技术进行了研究。详细分析了多余度惯性传感器各参数的测量原理及计算公式,针对典型的非正交配置(六传感器正十二面体)的多余度惯性测量单元(IMU),提出了一种简易的且具有较高精度的误差模型参数静态标定方法,给出了计算误差模型参数的数学推导过程和解析表达式。仿真结果表明:该计算方法精度较高,可以有效估计出多余度IMU的误差模型参数,提高了惯导精度。

System calibration techniques are discussed for strap down redundant inertial measurement units.The measuring principles and calculation formulae are introduced.A new static calibration approach is discussed for non orthogonal inertial sensor configurations,through which the models parameters can be calculated with high precision.The procedure of the parameters analysis and solution is given.Simulation results show that the new approach can improve navigation precision.