激光捷联惯导系统的一种系统级标定方法

Systematic calibration method for laser gyro SINS

根据陀螺和加速度计的输出误差模型,从惯性导航基本方程出发推导了捷联惯导系统的系统级标定的一种误差参数标定模型,明确了该模型成立的条件,分析了该模型下惯性仪表24项误差参数的可辨识性,从而解释了已有文献未将惯性仪表24个误差参数完全辨识的原因,完善了该理论的完整性,并且提出了设计多位置翻滚实验的位置编排原则,给出了能够辨识出惯性仪表24项误差参数的标定方法。根据该位置编排原则可以找到多组可行的位置编排使得惯性仪表误差参数是可辨识的。该标定方法简单易行。

According to the output error model of the gyros and accelerators, a systematic calibration model for the laser gyro strap down inertial navigation system was proposed based on the inertial navigation equation. The conditions under which the proposed model was deduced were discussed. The complete identification of the twenty-four error parameters was analyzed. This analysis explains the reason why the existed paper can＇t identify all the twenty-four error parameters, and improves the integrity of the theory, Then the principles of the calibration experiment design were proposed. Further more, a calibration algorithm, which can identify twenty-four error parameters of the inertial navigation unit was studied. According to the principles, there exist many feasible experiment designs, This calibration method is simple and simple and feasible.