单轴旋转惯导系统加速度计零偏误差静基座标定滤波算法

Accelerometer Bias Error Calibration Filter Algorithm for INS with Single Axis Rotation

旋转调制工作模式下,加速度计零偏误差导致惯导系统姿态误差呈周期性变化,影响船用惯导系统姿态精度。为原位标定加速度计零偏误差,根据姿态角误差法推导了滤波方程,在驻排条件下可以准确估计加速度计零偏,明显降低姿态误差。实测数据表明,滤波算法驻排条件下姿态精度为0.15角分。

Due to the azimuth rotation,the attitude error is modulated into a sine or cosine signal. The platform tilt-angle iscaused by the accelerometer bias residual error in levelling loop. The roll and pitch are typical sine or cosine signal in static status.In order to calibrate accelerometer bias error in situ,the project utilizes attitude error,and proposes accelerometer bias error calibra-tion algorithm of inertial navigation system. The effectiveness of proposed algorithm is verified and evaluated understatic conditions.The experimental results shows attitude error can be reduced to 0.15 arc-min.