空间稳定惯性导航系统参数的姿态误差标校法

Parameter calibration based on attitude errors of space-stable INS

为提高空间稳定惯性导航系统的姿态精度,利用姿态误差进行系统级参数标定和校准。首先,给出了姿态误差模型,考虑陀螺漂移、加速度计误差、壳体翻滚失准角、安装误差和框架角零偏的影响;接着,利用姿态误差模型进行可辨识性讨论和分析,总结出能分离的参数和标定方法,并据此设计试验方案。获得姿态误差后,结合最小二乘法和姿态误差模型进行系统级参数标定和校准,结果表明,参数标定误差小于15%的姿态精度指标,校准后,纵横摇角和航向角精度提高了60%和40%。

In order to improve the attitude accuracy of space-stable INS,the navigation attitude error was used to calibrate the systematic parameters.First,the error model of attitude errors was given considering the gyro drift,accelerometer error,misalignment angle of gyro case rotation axis,installation error and frame angle bias.Then,the separable parameters and calibration method were summarized up,and based on this,the experiment scheme was designed to identify the systematic parameters.At last,the attitude errors obtained from the experiment were used to identify the systematic parameters by least square identification method.Experiment results show that the accuracies of roll,pitch and yaw have improved 60%,60% and 40% respectively after compensation,and the calibration errors are reduced to 15% of the attitude accuracy index.