一种锚泊条件下捷联惯导系统级标定方法

A System-level Calibration Method of SIMU under the Anchoring Condition

捷联惯导的误差参数标定,一般是在实验室静基座或外场轻微晃动干扰基座下进行的,不能满足舰船出海期间在锚泊条件下对捷联系统进行标定的需求。针对此问题,提出了一种舰船锚泊条件捷联系统级标定方法。通过设置合适的卡尔曼滤波器量测误差参数和延长系统级标定时间,来减小锚泊运动的影响,使系统级标定结果准确稳定。通过设置不同的惯导系统误差,进行多次锚泊条件系统级标定仿真,对所提方法进行验证。仿真结果表明,在经过系统级标定后,加速度计零偏误差小于10μg,陀螺和加速度计的刻度系数误差小于30ppm,两者的安装误差角小于10’’。舰船锚泊条件系统级标定方法可以在舰船出海后不依赖外部测量信息标定惯导的部分参数,具有一定的应用参考价值。

Usually,the errors of SIMU are calibrated on a stationary base in laboratory or on a slightly shaking base in field.Hence,the requirement that SIMU needs to be calibrated when ships anchored on the sea cannot be satisfied.To solve the problem,a system-level calibration method of SIMU under the anchoring condition is proposed.The appropriate parameters of the measurement error are set for Kalman filter and the time of calibration experiment is extended,which are used to reduce the effect of the anchoring motion and make the result of calibration precise and stable.Several system-level calibration simulations under anchoring condition with different SIMU errors are designed to verify the proposed method.It is concluded from the simulations that the bias of accelerometer is less than 10μg,the scale factor errors of gyroscope and accelerometer are less than 30 ppm,and the misalignment errors of them are less than 10’’.The system-level calibration method under the anchoring condition can calibrate some parameters of SIMU without relying on external measurement information,so it has certain application reference value.