北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (11): 2405-2415.doi: 10.13700/j.bh.1001-5965.2018.0045

• 论文 • 上一篇    下一篇

基于偏轴转位的捷联惯导系统快速标定方法

苗继松1,2, 邵琼玲1, 任元1, 陈晓岑3, 王卫杰1   

  1. 1. 航天工程大学, 北京 101416;
    2. 解放军63798部队, 西昌 615000;
    3. 解放军63961部队, 北京 100012
  • 收稿日期:2018-01-18 修回日期:2018-04-13 出版日期:2018-11-20 发布日期:2018-11-27
  • 通讯作者: 任元,E-mail:renyuan_823@aliyun.com E-mail:renyuan_823@aliyun.com
  • 作者简介:苗继松,男,硕士研究生。主要研究方向:捷联惯性导航与快速发射技术;任元,男,博士,副教授,硕士生导师。主要研究方向:先进惯性测量与导航控制技术。
  • 基金资助:
    国家“863”计划(2015AA7026083);北京市青年拔尖人才项目(2017000026833ZK23);国家自然科学基金(51605489)

Fast calibration method of strapdown inertial navigation system based on partial axis transposition

MIAO Jisong1,2, SHAO Qiongling1, REN Yuan1, CHEN Xiaocen3, WANG Weijie1   

  1. 1. Space Engineering University, Beijing 101416, China;
    2. 63798 Troops of the PLA, Xichang 615000, China;
    3. 63961 Troops of the PLA, Beijing 100012, China
  • Received:2018-01-18 Revised:2018-04-13 Online:2018-11-20 Published:2018-11-27
  • Supported by:
    National High-tech Research and Development Program of China (2015 AA7026083); Beijing Youth Top Talent Project (2017000026833ZK23); National Natural Science Foundation of China (51605489)

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。

关键词: 分立标定, 静态6位置标定, 偏轴4位置标定, 标度因数误差, 安装误差, 常值误差

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.

Key words: discrete calibration, static six-position calibration, four-position calibration of partial axis, scale factor error, installation error, constant error

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