激光陀螺惯组系统级标定方法

Systematic calibration method for RLG inertial measurement unit

针对激光陀螺惯性测量组件在传统的分立式标定中受橡胶减震器影响的问题,从系统的角度对激光陀螺惯性测量组件的标度因数误差、安装误差传播规律进行分析。通过分别绕三只陀螺敏感轴转动激发激光陀螺的标度因数误差、安装误差,通过三只加速度计敏感轴分别指天激发加速度计的标度因数误差、安装误差和零位,从而完成激光陀螺惯性测量组件的系统级标定。在未进行温控及温补的情况下,陀螺仪标度因数误差重复性在3.5×10^(-6)以内,安装误差重复性在3″以内,加速度计标度因数误差和零位在其性能指标内,安装误差在4.5″以内。试验结果表明,该方法满足高精度、长期稳定性好的惯导系统工程应用要求。

To avoid the distortion of the elastic isolation of the IMU in traditional calibration method, the transmission rule of the scale factor and installation error in SINS was analyzed. Each of the gyro＇s three sensitive axes was rotated to separately excite the scale error and fix error, and the accelerometer axis was pointed up and down to separately excite the scale error, misalignment and bias to realize the systematic calibration of laser gyro inertial measurement units. The experiment results show that, when without temperature compensation and control, the gyro＇s scale factor error repeatability is within 3.5×10^-6, the gyro＇s misalignment repeatability is within 3″, the accelerometer＇s misalignment is within 4.5″, and the accelerometer＇s scale factor and biases are all within the performance specifications, which show that the proposed calibration method meets the engineering requirements of long-time and high-accuracy inertial navigation system.