捷联惯导系统的空中标定方法

In-flight calibration method for SINS

从工程实用和维护的角度出发,提出了一种针对机载捷联式系统的空中标定方法。该方法依据捷联惯导系统级标定的基本原理,使用卡尔曼滤波作为估计手段,惯性器件常值漂移、刻度系数误差及惯导系统基本误差项作为状态量,依据外部GPS信息作为观测基准,通过设定的飞行机动动作对各待标定误差项进行激励。仿真卡尔曼滤波结果表明,依据飞机实际运动过程设计的简单飞行轨迹即可以实现对所有误差项的有效激励,各误差项随飞行过程进行逐步收敛。这种系统级空中标定方法不需要飞机作特殊的机动动作,在实际工程中易于实现,且经过一个架次的飞行就可以对惯导系统进行一次标定补偿。

In view of engineering utility and maintenance, an in-flight calibration method for aircraft SINS was presented. It chooses the biases of gyro and accelerometer, the scale factor errors and basic errors of INS as state variables, and the GPS information as measuring base; it simulates a certain flight trajectory to excite the errors, It uses Kalman filter to estimate the errors to be calibrated. The result of Kalman filtering shows that all the errors are convergent and can be completely excited by the simulating trajectory. This system-level calibration approach doesn＇t require the aircraft to do some special motions, so it can be easily implemented in projects. Moreover, the calibration and compensation can be achieved after each flight.