基于旋转惯导双轴旋转系统的系统级标定

System level calibration based on rotating inertial navigation two-axis rotating system

随着旋转调制惯导系统在空间飞行器上的逐步应用,低精度转台开始作为惯导系统的一部分参与导航过程,对基于旋转惯导系统双轴转台的光纤陀螺捷联惯导系统的系统级标定方法进行研究。建立附加约束条件和简化条件后的加速度计和陀螺的误差模型,在双轴转台上进行合理位置编排和转位,利用静态七位置下的捷联惯导输出数据做惯性导航,以速度误差和姿态误差作为观测量,建立Kalman滤波标定模型,系统辨识出三轴加速度计和陀螺的各项误差参数。通过计算机仿真验证,该方法能够准确利用滤波方法估计出陀螺和加表的共计21个器件误差参数,在工程上具有一定参考价值。

With the gradual application of rotary modulation inertial navigation system in the space vehicles,low-precision turntables are used to participate in the navigation process as a part of the inertial navigation system.A system-level calibration method was studied.The error model of the accelerometer and gyroscope with additional constraints and simplified conditions was established,the reasonable position arrangement and indexing were carried out on the two-axis turntable,and the output data of the strapdown inertial navigation under the static seven positions were used for inertial navigation.The attitude error and the speed error were used as the observation quantity,and the Kalman filter calibration model was established.The system identified the error parameters of the three-axis accelerometer and gyroscope.Through computer simulation verification,this method can accurately estimate a total of 21 calibration error parameters of the accelerometer and gyroscope,and it has certain reference value in engineering.