激光陀螺捷联惯性导航系统的误差参数标定

Calibration of error parameters in laser gyro strapdown inertial navigation system

惯性器件标定一般都必须对北和调平,以消除地速及重力加速度的影响,但是不适合在靶场及其它野战环境下。根据激光捷联惯导系统的误差方程,在激光捷联惯性组合不水平指北情况下,通过12位置的标定方法,抵消地速及重力加速度的影响,从而得出加速度计的误差参数和激光陀螺的常值漂移;然后通过单轴转台,标定出陀螺的安装误差和标度因数;最后分别在引北调平和在不水平指北的12位置下对激光捷联组合进行标定,并对实验精度进行对比,两者误差比较小,认为此方法可以满足激光陀螺捷联系统的标定要求。本方案利用最少的测试位置,得到了所有需要的信息,利用率高。

In the inertial devices calibration, in general the test equipment must perform north-seeking and level-adjusting to eliminate the influence of the ground velocity and the acceleration of gravity, but this is not suitable for the environment of shooting range and other fields. According to the error equation of laser gyro strapdown inertial navigation system, using 12-position calibration method to counteract the influence of the ground velocity and the acceleration of gravity when the IMU was not level-adjusting or north-seeking, we obtain the error parameters of accelerometers and the constant drifts of laser gyro. Then by using single-axis turntable we calibrate the error parameters of laser gyro. At last, we calibrate the error parameters of IMU in north-seeking and level-adjusting and no level-adjusting or no north-seeking under 12-position situation, and the contrast on experiment precision show that the erros are on the small side. So consider the proposed method can meet the performance requirements of laser gyro strapdown system. This method uses the least measurement positions while gains all information needed, so the position＇s utilization ratio is high.