捷联惯导系统内杆臂补偿方法及试验验证

Inner Lever Arm Compensation and Its Test Verification for SINS

在实际捷联惯组中,三只加速度计的比力测量对应于不同的点位置,如果直接作为捷联惯导算法的输入,角运动条件下会引起导航误差。对于加速度计非正交安装情形,在常规静态标定模型基础上,推导了考虑内杆臂效应后的动态标定模型。以导航速度为观测量,建立了加计组合内杆臂补偿的一般模型方程。针对激光捷联惯性组合,设计了简便的试验方法用于辨识内杆臂参数,高强度的摇摆试验表明内杆臂补偿有效地提高了导航精度,速度误差降低达77%以上。

In actual strapdown inertial measurement unit （ SIMU）, special force outputs of the three accelerometers are from different measuring points. If the outputs are directly put into the SINS update algorithm, it will bring navigation velocity errors under the case of SIMU angular movement. Taking into account the non-orthogonal installation scheme of accelerometer unit and based on the traditional static calibration models , new dynamic calibration models involving inner lever ann （ILA） compensation are deduced. A universal equation for accelerometer unit ILA compensation is established by taking navigation velocity as observation. Using the laser gyro SIMU, a test scheme is designed to identify the ILA parameters. In the end, a high intensity of swaying test verifies that ILA compensation can effectively improve the navigation accuracy, with the amount of errors decreasing over 77%.