十加速度计GFSINS安装误差的标定及补偿

Calibration and compensation of installation errors for GFSINS with ten-accelerometer

针对十加速度计系统构型中的安装误差,提出了一种误差的标定及补偿方案。通过理论和仿真分析了加速度计安装误差对无陀螺捷联惯导系统的影响。将十加速度计构型单元置于转台上,在2种不同转速下各进行3次翻转,利用加速度计输出可以一次标定出50个加速度计安装位置和方向误差系数。在转台转速分别为0.5,1.0rad/s时,最大的标定误差为12.2%,同时,安装位置误差的标定准确度随着转台转速增大而提高。采用先计算补偿后的加速度计输出,再解算角速度的方法进行安装误差补偿后,在200s时间内,角速度准确度比补偿前提高了一倍以上。

Aiming at the installation errors of a ten-accelerometer configuration,a calibration and compensation method is given.The effect of installation errors on gyro-free strapdown inertial navigation system（GFSINS） is analyzed and simulated.The ten-accelerometer configuration unit is put on a turntable,and after three rollings of the turntable are finished at two rotating rates,50 error coefficients can be calibrated at one time.When the rates of the turntable are 0.5 rad/s and 1.0 rad/s,the maximum calibrating error is 12.2%;at the same time,calibrating precision can be improved by increasing the rate of the turntable.By using a method that computes firstly accelerometer output after compensation and then calculates angular velocity,calculation precision is improved over one time in 200 seconds.