摘要
提出一种捷联惯导系统的陀螺零偏在线标定方法。在静止条件下采集惯导系统在两个近似水平位置输出的速度信息和方位信息,利用扩张状态观测器提取惯导系统速度误差的微分信息,通过算法估计陀螺零偏。仿真结果表明:该方法可行且标定精度能够满足捷联惯导的要求。实物验证表明:该方法实现简单,可有效估计陀螺零偏,提高惯导系统导航精度,为工程应用带来较大便利。
The paper presents an on-line calibration method for on-board strap-down inertial navigation system. The derivatives of the velocity error signals can be obtained by the Extended State Observer （ESO） through collecting the static velocity and the azimuth signals from the inertial navigation system in two approximately horizontal positions. The errors of gyro could be estimated by the algorithm designed. The simulation result shows that this method is feasible and its precision is acceptable. It is proved by the field test that this method is easy to be implemented and could perform gyro self-calibration effectively. At the same time, this method could improve the precision of the navigation and bring great convenience for engineering application.
出处
《导弹与航天运载技术》
北大核心
2013年第1期17-20,共4页
Missiles and Space Vehicles
关键词
可观测
微分信号
在线标定
Observability
Derivative signal
On-line calibration
