重复标定的惯组误差模型系数计算方法

The Calculation Method of IMU Error Model Coefficients with Repeated Calibrations

通过建立合适的惯组测量坐标系,构建了惯组内部惯性器件敏感轴和惯组测量坐标系之间固定的相对关系,实现了惯组在六面体测试工装内每次标定的误差模型系数均反映同一个映射关系,实现了惯组重复安装标定时惯组误差模型系数的统一计算、对比,对方便工程使用、有针对性地改善惯性器件性能有着重要的意义。

The fixed relative relationship is constructed between the IMU interior inertial device sensitive axes and IMU measurement coordinates by building appropriate IMU measurement coordinates. The calibration error model coefficients reflect the same mapping relationship each time when the IMU is placed in the hexahedron testing instrument. The IMU error model coefficients of repeated setup and calibration can be uniformly calculated and compared. This paper is significant for engineering realization and improving the performance of IMU devices.