光纤陀螺捷联惯导系统艇上系泊状态自标定方法

Calibration method for mooring state of ship borne FOG SINS

从实际工程使用角度出发,提出了一种在系泊状态下的系统级自标定方案,避免了惯导系统在艇上的反复拆装。提出的系统级标定方法设计了15位置转位方案,可以通过Kalman滤波对陀螺仪和加速度计的零次项误差,标度因数误差,安装误差进行精确估计,除了对以上误差参数的估计外,对影响导航精度的内杆臂参数和加速度计正负通道非对称误差也可以进行估计。并根据系泊状态的特殊晃动环境,设计了零相位延迟的低通滤波器从惯导系统的速度解算中得到速度误差,保证了惯导系统在不依赖外界输入条件下完成自标定任务。仿真及实验结果表明,该方法能在系泊状态下准确估计出全部误差变量,且与静基座标定结果相符,具有实际应用价值。

From the practical engineering point of view,a new systematic calibration method of SINS in mooring state is presented,which avoids the repeated assembling of SINS on the ship.The proposed systematic calibration method designs a 15-position scheme,which can accurately estimate the gyros and accelerometers bias errors,scale errors and installation angle errors.In addition to the above error parameters,the inner lever arm parameters and accelerometer asymmetric error that affect the navigation accuracy can also be estimated.According to the special sloshing environment of the mooring state,a filtering with zero-phase error is designed to obtain the velocity error from the calculation of the SINS,to ensure the self-calibration of the SINS without relying on external input.Simulation and experiment results indicate that the method can accurately estimate all errors in mooring state,and is consistent with the calibration results of the static base,which has practical application value.