高精度捷联惯导系统的系统级标定方法

Systematic Calibration Method for High-Precision Strapdown Inertial Navigation System

针对现有的标定技术存在较大误差、且误差随着位置偏离的增加而增加的问题,提出一种迭代求解的方法。基于高精度捷联惯导系统的一般输出模型,推导出误差模型,通过简单的位置编排,激发出导航速度误差,反推出误差参数,并不断修正输出模型参数,使导航误差不断减小,达到高精度捷联惯导系统标定目的。分析结果证明:该方法标定精度高、方法简单,无需精确的寻平和寻北,能够满足导航需要,具有较高的工程实用价值。

Aiming at the large error of current calibration method, and error is increased when position departure increasing, put forward a iterative solution method. Based on the general output model of the high-precision strapdown inertial navigation system （SINS）, the error model of the output can be derived. Then through proper positions and rotations, exciting speed error of the navigation systems, the error parameters can be deduced. Then with iterative algorithm, model parameters can be corrected continuously and navigation error would decrease as well. The analysis results prove that the method is very simple, has high calibration precision and without strictly level and north seeking. It meets requirements of navigation with high practical value in engineering.