摘要
提出了一种在地面运输与机动过程中,采用单波束激光测速仪对弹载惯组误差进行在线标定的方法。首先介绍了这种在线标定方法的基本原理与方案,然后基于捷联惯导误差模型、惯组漂移误差模型和测速仪误差模型选取了在线标定组合滤波器状态量,并推导了单波束激光测速仪/捷联惯导速度匹配量测模型,最后,进行了仿真计算并列出了相关计算结果,验证了这种基于单波束激光测速仪的惯组在线标定方法的正确性。
An online calibration method for inertial measurement unit （IMU） based on single-beam Lidar during the processes of land transit and maneuver was proposed. First, the basic principle of the online calibration method was introduced. Kalman filter states of SINS/Lidar integrated system were chosen and the velocity-matching measurement model was deduced, according to the error models of strapdown inertial navigation system （SINS）, IMU and Lidar. Finally, the numerical and systematic simulation was carried out and the correlated results were presented in order to demonstrate the validity of the online calibration method of IMU based on single-beam Lidar proposed in this work.
出处
《红外与激光工程》
EI
CSCD
北大核心
2013年第S02期466-471,共6页
Infrared and Laser Engineering
