激光陀螺捷联惯导系统多位置标定方法

Multiposition calibration method of laser gyro SINS

在建立惯性仪表简化误差模型的基础上,提出了一种多位置标定方法。该方法充分考虑标定条件、设备以及时间等因素,设计了一种多位置连续转动标定方案,充分激励惯性仪表各项误差参数,从而建立起所有误差参数与系统导航误差之间的关系,通过测量每个位置静态导航状态下的速度误差,采用最小二乘估计,全面辨识出所有21个误差参数。理论分析和实验结果表明,与传统标定方法相比,该方法对标定设备要求低,无需北向基准,实现简单方便,在较短的时间内就可以一次标定出惯性仪表所有21个误差参数,标定精度与基于精密转台的标定精度相当,具有较强的工程实用性。

By establishing the inertial sensor simplified error model,a multiposition calibration method is proposed.This method takes account of the factors,such as calibration condition,equipment and time,etc,and designs a sequence of multiposition calibration scenario in order to excite all inertial sensor error parameters.Thus,the relationships between navigation errors and all inertial sensor error parameters are established.All 21 error parameters can be estimated using least-squares estimation by measuring the velocity error of the system in every fixed position.The theoretical analysis and experiment results show that,compared with the traditional calibration method,this method is simple and convenient.It can accurately calibrate all the 21 error parameters using a simple low-cost and low-accuracy equipment without north reference,and the accuracy of this method is equivalent to that with precise calibration turntable,and is more suitable for practical application.