基于高阶卡尔曼滤波的激光捷联惯导系统级标定方法

Systematic Calibration Method Based on High-order Kalman Filter for Laser Gyro SINS

随着激光捷联惯导系统的不断发展,系统对于误差标定的精度要求也在不断提高。在现有系统级标定算法的基础上,全面考虑了惯性器件零偏、安装误差角、标度因数误差、加速度计二次项、内杆臂等误差,并在计算速度和位置误差观测量时考虑了外杆臂误差,提高了激光捷联惯导系统误差模型的准确性,并基于此设计了一种基于高阶卡尔曼滤波算法的系统级标定方法。通过实验验证表明,与分立式标定方法相比,所提出的系统级标定方法具有更高的标定精度,能够满足高精度激光捷联惯导系统的标定需求。

Along with navigation precision of laser gyro strap-down inertial navigation system(SINS)increases continuously,the requirement of error calibration accuracy is advancing to ever-higher levels.The research status of systematic calibration was analyzed,the error items that was considered includes biases scale factor errors installation error angle quadratic term error coefficient inner level arm,and outer arm was considered.writer emphasized the influences of inner and outer lever arm parameters to the systematic calibration,therefore,a42-order system error model was established,proposed a systematic calibration method based on high-order Kalman filter.Experiments results indicate that,compare with traditional method,the error calibration accuracy of systematic calibration proposed in this paper is high and satisfies the demands of high precision inertial navigation system calibration.