基于导航误差的系统级标定方法中时间参数选取原则分析

Analysis on timing preferences of calibration based on navigation datum

介绍了捷联惯导系统基于导航参数的标定方法,给出了惯导系统绕三个轴翻滚过程中等效加速度计误差和等效陀螺误差与惯导系统速度误差变化率之间的关系,分析表明,只要精心设计转动顺序,通过观测不同位置、姿态下惯导系统的速度误差变化率,就可以分离出惯性器件各项误差。从实际工程应用出发,分析了标定过程中各位置之间的旋转时间、每个位置上的停止时间对速度误差变化率观测值的影响,在实际应用中,必须将这种不利于惯性器件误差参数估计的影响控制到最小。最后结合实际惯导系统的器件水平,给出了实际标定过程中相邻两位置间的旋转时间的选择范围,以及每个位置上停止时间的一种最优设计方法。

A calibration method for SINS based on navigation data was introduced. Based on the deduction of the relationship between instrument errors and system acceleration errors, it is concluded that all kinds of the inertial instruments’ errors can be separated by specially designing the rotating sequences and measure the different acceleration errors of INS in a series of specific positions. Considering the influences of some uncertain error sources under practical engineering condition, it is showed that both rotating time and stopping time of the INS have effect on system acceleration error observations during the calibration process, and may have further effect on inertial instruments error computation. Combining with the practical INS instruments level, a designing method for optimum timing preferences is given to limit these negative influences to the least.