基于速度误差的加速度计闭环标定方法

A closed-loop calibration method of accelerometer based on velocity error

针对长航时、高精度移动测量系统中加速度计组件标定周期长、参数重复性不好等问题,该文提出一种基于速度误差的加速度计组件闭环标定方法。通过推导加速度计标度因数误差和安装误差的标定误差与系统速度误差之间的关系,以惯性导航系统解算的速度误差作为观测量,设计加速度计组件闭环标定路径,不断对标度因数和安装误差进行修正,并根据加速度计器件精度和标定参数分辨率设定闭环标定结束阈值。标定及导航实验结果表明:加速度计组件闭环标定方法可以完成标度因数和安装误差等9个标定参数的计算,惯导系统定位精度提高20%以上。

According to the accelerometer unit calibration characteristics of long cycle,and poor reproducibility,a closed-loop calibration method of accelerometer based on velocity error was proposed.By deriving the influence of scale factor and installation error to velocity error,accelerometer closed-loop calibration path was designed.The closed-loop calibration algorithm took the last accelerometer calibration parameters as the initial value and revised the scale factor and installation error constantly.The end threshold was set up by accelerometer device accuracy and calibration parameters resolution.The experiment results showed that the accelerometer closed-loop calibration method calculated nine parameters containing scale factor and installation error.The positioning accuracy of inertial measurement system was increased by more than 20%.