摘要
针对多位置标定算法中利用的陀螺和加表的误差模型,在捷联惯导系统误差传播方程中,考虑陀螺和加表的标度因数误差和安装误差,建立了一种高阶误差模型。为了评价该模型的准确性,将其与不考虑标度因数误差和安装误差的模型比较,设计了系统静态和动态仿真实验。在系统静态仿真中,分别加入陀螺漂移和加表安装误差,而在动态仿真中同时加入各项误差项,求取以这些误差项为初值的模型微分方程的解,使其与惯导系统输出误差进行比较。仿真结果发现,建立的高阶误差模型比不考虑标度因数误差和安装误差的模型精度高出约三个数量级。
Based on the models of gyro and accelerometer in multi-position calibration method of SINS, a high-order error model of SINS was derived considering the influence of scale factor error and installation error. The system simulation in static and dynamic state was made in which different error terms were added into the system to compare with the model without considering the scale factor and installation error. In static simulation, gyro drift and accelerometers installation error were added. In dynamic simulation, various error terms were added simultaneously, and the solution of differential equation was derived with the error terms as initial values. By subtracting the SINS output error from the solution of differential equation, it is showed that the precision of high-order error model was three orders higher than that of the model not considering scale factor error and installation error.
出处
《中国惯性技术学报》
EI
CSCD
2007年第5期530-535,共6页
Journal of Chinese Inertial Technology
基金
国防科技重点预研项目(51309010601)
关键词
捷联惯导系统
标度因数
安装误差
误差模型
strap-down inertial navigation system
scale factor
installation error
error model
