捷联惯性系统中IMU安装误差及陀螺漂移的估计

Estimation of IMU Misalignment and Gyro Drift in SINS

为减小IMU安装误差及陀螺漂移对捷联惯性系统导航参数精度的影响,采用速度/姿态角组合匹配传递对准模型的误差方程和IMU的安装误差角方程结合的方法组成新的滤波器模型,并引入改进的BP神经网络算法,实现了IMU安装误差及陀螺漂移的快速有效估计。为对捷联惯性导系统的各项导航参数进行修正和补偿、提高导航精度提供了依据。

Inertial measuring unit （IMU） misalignment and gyros drift are error sources, which influence on accuracy of the strap down navigation parameters. A new filter model using error equations of velocity and attitude matching and error equations of misalignment is established and the improved BP neural network algorithm is introduced in this paper. Estimation of IMU misalignment and gyro drift are given quickly and effectively in this paper, which can provide the correction and compensation of the parameters, the basis of improvement on navigation accuracy in the SINS.