捷联惯性测量组合标定的仿真研究

Simulation Research on Strapdown IMU Cal ibration

对卡尔曼滤波在捷联惯性测量组合标定中的应用进行了研究 ,提出了一种辨识激光陀螺和加速度计静态误差的在线正交标定方案 ,并在不同滤波条件下进行了仿真验证 ,结果表明这是一种比较有效的误差标定方法。

This paper stud ies on the application of Kalman filter in the calibration of test schemes for s trapdown inertial measurement unit,a new method of on-line verticality calibrati on for static error parameters of gyrosc ope and accelerometer has been suggested . Also,verification simulating for sever al filtering conditions have been done,a nd the results show that this is an effi cient method for error calibration.