Fast calibration method of strapdown inertial navigation system based on partial axis transposition
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摘要:
捷联惯导系统（SINS）中惯性测量单元（IMU）的转位方案设计对系统的快速标定具有重要影响。目前常见的转位方案是转轴与敏感轴重合，该方式每转动一次，仅有2个敏感轴位置发生变化。为更高效地激励误差，设计了一种IMU在转台上的偏轴安装方式，并基于这种方式提出一种新的转位方案。通过合理设计转轴与敏感轴之间的角度，使其在每次转位时有3个敏感轴位置同时发生变化，开拓了IMU新的转位空间，从而在标定陀螺组件的12个主要确定性误差时，可将传统转位方式下的最少6位置标定进一步缩减为偏轴转位下的4位置标定。通过理论分析与仿真实验表明，2种方案标定精度相同，但偏轴4位置标定方法的标定时间要比静态6位置标定方法减少33%，且标定结果的稳定性要好于静态6位置标定方法。
Abstract:The design of the transposition scheme of inertial measurement unit (IMU) has an important influence on the rapid calibration of strapdown inertial navigation system (SINS). In the traditional transposition scheme, both the rotating shaft and the sensitive axis are reclosed, and only two sensitive axis positions change for once per transposition. In order to stimulate the error more efficiently, a new partial axis installation method of IMU on the turntable is designed, and a new scheme of off-axis transposition is proposed. By properly designing an angle between the rotating shaft and the sensitive shaft, it makes three sensitive axis positions change at the same time, and opens up a new transposition space of IMU. Therefore, when calibrating the 12 main determinacy errors of gyroscope module, the minimum six-position calibration under traditional transposition mode can be further reduced to four-position calibration under off-axis transposition. Through theoretical analysis and simulation experiments, it is shown that the calibration accuracy of the two schemes is the same, but the calibration time of the four-position calibration scheme is 33% lower than that of the static six-position calibration scheme, and the stability of the calibration results is better than the static six-position calibration scheme.
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图 1 静态6位置标定转位方案示意图
Figure 1. Schematic diagram of static six-position calibration transposition scheme
图 3 偏轴4位置标定方法转位路径
Figure 3. Transposition path of partial axis four-position calibration method
图 4 静态6位置标定方法陀螺仪标度因数误差
Figure 4. Gyro scale factor error of static six-position calibration method
图 5 静态6位置标定方法陀螺仪安装误差
Figure 5. Gyro installation error of static six-position calibration scheme
图 6 静态6位置标定方法陀螺仪常值误差
Figure 6. Constant value error of gyroscope in static six-position calibration method
图 7 偏轴4位置标定方法陀螺仪标度因数误差
Figure 7. Scale factor error of gyroscope in four-position calibration method of partial axis
图 8 偏轴4位置标定方法陀螺仪安装误差
Figure 8. Installation error of gyroscope in four-position calibration method of partial axis
图 9 偏轴4位置标定方法陀螺仪常值误差
Figure 9. Constant value error of gyroscope in four-position calibration method of partial axis
图 10 2种标定方法所标定出的各个误差项的偏差模值
Figure 10. Deviation mode values of each error calibrated by two calibration methods
图 11 2种标定方法标定各个误差项时的方差
Figure 11. Variance of each error calibrated by two calibration methods
表 1 不同标定方法下的陀螺仪误差参数比较
Table 1. Comparison of gyroscope error parameters under different calibration methods
误差项 静态6位置标定 偏轴4位置标定 δKx/10-4 0.996 871 0.999 207 δKy/10-4 0.995 594 0.100 265 δKz/10-4 1.011 19 0.997 956 Kxz/(10-5rad) 2.197 14 2.151 31 Kxy/(10-5rad) 1.958 93 2.194 24 Kyx/(10-5rad) 2.100 79 2.110 21 Kyz/(10-5rad) 2.000 29 1.910 05 Kzy/(10-5rad) 2.198 92 2.161 23 Kzx/(10-5rad) 2.090 67 2.098 70 Dx/((°)·h-1) 2.041 742 49 2.041 734 15 Dy/((°)·h-1) 3.018 441 56 3.018 441 43 Dz/((°)·h-1) 2.095 456 24 2.095 454 32 
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