北京航空航天大学学报 ›› 2011, Vol. 37 ›› Issue (7): 855-860.

• 论文 • 上一篇    下一篇

SINS外场系统级标定方法的优化——最佳六位置

牟玉涛, 周振威, 方海涛   

  1. 中国科学院 数学与系统科学研究院,北京 100190
  • 收稿日期:2010-09-10 出版日期:2011-07-30 发布日期:2011-08-04
  • 作者简介:牟玉涛(1985-),男,河北故城人,博士生,myt04271012@163.com.
  • 基金资助:

    国家自然科学基金资助项目(60774020,60821091)

Optimization of systematic calibration method for SINS in outer field—optimal six-position

Mu Yutao, Zhou Zhenwei, Fang Haitao   

  1. Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190, China
  • Received:2010-09-10 Online:2011-07-30 Published:2011-08-04

摘要: 静态多位置标定问题,不同位置编排方式会影响辨识精度.针对六位置标定方法,通过建立位置编排与惯组9个误差参数(加速度计零偏、标度因数误差和陀螺零偏)标定精度之间的关系,将惯组位置编排问题转化为Fisher信息矩阵的优化问题,并在A-最优、D-最优和E-最优3个优化指标下,给出了惯组位置编排的最优方案,通过仿真与满足可辨识条件的一组位置编排比较,结果表明最优方案能够提高加速度计零偏和标度因数误差的标定精度.

Abstract: In the static multi-positions calibration method for strapdown inertial navigation system(SINS), the precision of parameters estimate is influenced by the positions arrangement. For the six-position calibration method, nine initial measurement init error parameters, including accelerometer bias, accelerometer scale factor and gyro bias, were estimated. The relation between position arrangement and calibration precision of these parameters was established. Based on this relationship, the position arrangement problem was transformed to the optimization problem of Fisher information matrix. Furthermore, the optimal position arrangement was presented under some single criterions, which is called as A-optimality, D-optimality and E-optimality, respectively. Finally, a numerical example shows that the optimal position arrangements based on these criterions can provide better estimate for some parameters such as calibrating accelerometer bias and accelerometer scale factor.

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