一种十表冗余激光陀螺捷联惯组标定方法研究

Calibration Research on a 10-Axis Laser Gyro Redundant Strapdown Inertial Measurement Unit

针对十表冗余激光陀螺三自捷联惯组(包含5只陀螺和5只加速度计)的标定问题,推导给出了标定模型以及标定方案。将十表冗余惯组划分为直表X\Y\Z和斜表S\T两组,直表采用系统级标定方法,建立关于标定误差模型的状态方程,以导航速度误差作为量测,通过Kalman滤波估计标定误差参数;以直表标定结果作为参考,进行斜表的分立式标定,分别建立了加速度计、陀螺标度系数和陀螺漂移的标定模型。最后,结合19位置系统级标定方法和分立式标定方法完成了十表冗余激光捷联惯组标定,结果显示标定结果正确,分析了标定误差特性。

According to calibration problem of ten redundant laser gyroscopes‘three-autonomy’strapdown inertial measurement units,A calibration model and calibration scheme are deduced,which includes five-axis gyros and five-axis accelerometers.The ten-axis redundant inertial measurement unit is divided into two groups known as straight assemble X\\Y\\Z and oblique assemble S\\T.A system level calibration method is adopted for the straight assemble,by establishing a state equation about the calibration error model,taking navigation speed error as the measurement,and estimating the calibration error parameters through Kalman filtering.Using the calibration results of the straight assemble as reference,separate calibration models are established for the accelerometer,gyros scale coefficient and gyro bias.Finally,the calibration of ten redundant laser strapdown inertial units is verified by combining the 19-position system-level calibration method with the discrete calibration method.The calibration results are correct and the characteristics of the calibration errors are analyzed.