导弹射前惯测组件误差在线标定方案研究

Research on real-time IMU error calibration methods for missile prelaunch preparation

弹上惯测组件(IMU)的误差是影响系统导航精度的重要因素,并直接决定导弹的落点偏差。针对离线标定的误差并不能完全反映实际使用时的误差状况,主要研究弹上惯测组件在一次通电情况下误差的在线标定方案。首先利用导弹水平、竖直和其他起竖位置来标定IMU的可行性分析,然后重点提出利用发射车从仓库到达发射点过程中停车位置的信息来辅助在线标定的方案,在理论分析的基础上给出了计算公式。最后,通过仿真结果表明,该方案能在一定精度条件下标定出IMU所有的误差参数,是行之有效的。

The errors of Inertial Measurement Unit（IMU） affect the accuracy of the system a lot and also determine the impact point error of missiles directly. As the off-line error calibration methods can＇t indicate the error status well for practical use, the real-time IMU error calibration method for missiles is studied, first, the feasibility to use the missile＇s level position is studied, vertical position and other position to calibrate the errors. Then the calibration scheme of using the launching vehicle＇s parking position in the path from depot to the launching point is presented. On the basis of the theoretical analysis, the calculation equations are also presented. At last, the simulation results show that this scheme is able to calibrate the IMU errors totally with specified accuracy.