捷联惯导系统误差系数动态标定方法探究

Study of dynamic calibration method for SINS's error parameters

随着工作时间的推移,捷联惯性导航系统中的惯性器件测量精度会因为误差参数发生变化而降低,误差逐渐被积累,进而降低系统导航精度。针对此问题,提出了一种基于GPS速度、位置信息的捷联惯导系统惯性测量装置输出误差系数动态标定的方法。首先采用Sage-Husa自适应滤波实现组合导航状态最优估计,然后引入迭代最小二乘法,利用导航误差对系统惯性器件的误差系数进行标定。经计算机仿真验证,该方法可以实现在运动中对系统误差系数进行标定,进而提高捷联式惯性导航系统的导航精度。

The error parameter of inertia instrument in inertia measurement device may change with working time,which cause the measurement precision is decreased and the error of SINS is accumulated.According to this,in order to improve navigation precision of SINS,a dynamical calibration method based on GPS＇s velocity and position information for error parameters is put forward.Sage-husa adaptive Kalman filter is used to get the best navigation state,and then,this state is used to calibrate the error parameters of inertial measurement device.The simulation indicates that the error calibration can calibrate the error and improve the precision of the inertial navigation system.