激光捷联惯性组件精确标定方法研究

Precision Calibration Techniques Research for Laser Strap-Down Inertial Measurement Unit

建立激光捷联惯性组件(SIMU)的输出模型;研究双轴位置转台下高精度激光SIMU的多位置标定方法,通过正、反向转动和四位置对消标定出激光陀螺的脉冲当量、安装偏差和常值漂移;应用多元回归分析法标定出加速度计的脉冲当量、安装偏差和零偏;分析了地球自转角速率、转台角位置基准偏差对陀螺标定的影响;阐述了提高陀螺组件标定精度的方法。对某型激光SIMU(陀螺漂移稳定性0.007°/h,加速度计零漂5×10-5g)进行标定与实时补偿,静态导航1 h最大纬度误差0.13海里(n mile),经度误差0.24海里(n mile);动态车载实验1 h定位误差0.7723海里(CEP)。

The output models for laser gyro strapdown inertial measurement unit （SIMU） are established, then, multi-position analytic calibration method for high precision laser gyro SIMU under biaxial position turntable is researched, and the pulse equivalent, installation errors and constant drift of laser gyro by positive, negative rotation and four positions cancellation method are calibrated; appling multiple regression analysis method, the accelerometer pulse equivalent, installation error and bias are calibrated; the gyro calibration error aroused by earth rotation rate and angle position reference error of turntable are analyzed; the method to improve gyro assembly＇ s calibration precision is expounded. Appling this calibration scheme to X-type laser SIMU（ gyro stability 0. 007°/h, accelerometer bias 5 × 10^-5g）, one hour static navigation maximal latitude error is 0.13 n mile, longitude error 0.24 n mile, one hour dynamic test position error on vehicle is 0. 7723 n mile（ CEP）.