摘要
针对目前标定技术存在较大误差、标定时间较长的问题,设计了一种适用于不动产实地调查系统的14位置系统级标定方法。推导了陀螺和加速度计的输出误差模型,设计了一种14位置的编排方式,有效地激励了陀螺和加速度计的各项标定误差。同时,通过分别以姿态误差和速度误差作为观测量,建立了陀螺以及加速度计的Kalman滤波方程,从而降低了Kalman滤波器维数。仿真验证,该14位置系统级标定方法能够实现对标定误差的高精度估计,提高标定精度,并缩短标定时间。
According to the characteristics of current systematic calibration method with large error and long experiment- time, 14-position systematic calibration method which is applicable to real estate field survey was designed. The output error model of the Gyroscope and accelerometerwas deduced. The calibration errors were motivated effectively by designing the 14- position layout. At the same time, the Kalman filtering equation for the gyroscope and accelerometer was established by taking speed error and attitude error as observables respectively to reduce the dimension of Kalman filtering. Simulation showed that this method can realize the calibration error estimation, improve the calibration accuracy and shorten the calibration time.
出处
《仪表技术》
2017年第3期18-22,共5页
Instrumentation Technology
基金
国土资源部公益性行业科研专项(20141102-2)
