旋转调制捷联惯导惯性测量组件零偏的估计方法

Estimation method for IMU bias in rotating modulation SINS

针对旋转调制型捷联惯导系统,通过研究惯性器件误差、失准角与惯性测量组件(inertial measure-ment unit,IMU)角位置三者之间关系,提出了一种三位置对准估计加速度计水平零偏和陀螺水平常值漂移的方法。为了实现惯性器件偏差的最优估计,分析了IMU最优位置问题。得出IMU最优位置是在初始位置的基础上,绕旋转轴依次转动90°的结论。数字仿真验证了理论分析的正确性。

On the research of rotating modulation strapdown inertial navigation system （SINS）, a new approach which estimates accelerometer and gyroscope horizontal errors in three position alignment is presented by the study of the relation among inertial instrument errors, misalignment angles estimation accuracy and iner tial measurement unit （IMU） attitude. In order to achieve optimal estimation, an IMU optimal rotating position is studied in theoretical analysis. Analysis shows that the IMU＇s optimal position can be gotten by rotating IMU around the rotation axis 90° in turn on the basis of the initial position. The theoretical analysis is verified through digital simulation.