惯性导航系统在线标定方法研究

On-line Calibration Method for Inertial Navigation System

论文针对惯性导航系统在线标定的问题,利用GPS提供的基准速度和位置信息,采用基于卡尔曼滤波技术的"速度+位置"匹配方法,以惯导系统与GPS的速度和位置的差值作为量测值,对加速度计和陀螺仪误差进行在线标定。仿真结果表明,经在线标定补偿后惯导系统定位误差降低了97.2%。该方法显著提高了导航精度,效率较高,具有一定的实用价值。

For the problems of Inertial navigation system online calibration, this paper takes advantage of the reference velocity and po- sition information which is provided by GPS, adopts ＂velocity and position＂ matching method based on Kalman filter and takes the differences of velocity and position between the GPS and the inertial navigation system as the measured value to calibrate the error s of accelerometers and gyroscopes online. The simulation result shows that the positioning error of INS has been decreased 97. 2% through online calibration and compensation. This method evidently increases the navigation accuracy of INS, and has higher efficiency. And it also brings with certain practical value.