北京航空航天大学学报 ›› 2009, Vol. 35 ›› Issue (3): 366-370.

• 论文 • 上一篇    下一篇

余度捷联惯导系统连续自动标定技术

芦佳振, 张春熹, 祝露峰   

  1. 北京航空航天大学 仪器科学与光电工程学院, 北京 100191
  • 收稿日期:2008-03-26 出版日期:2009-03-31 发布日期:2010-09-16
  • 作者简介:芦佳振(1982-),男,江苏泰兴人,博士生,ljzh100@aspe.buaa.edu.cn.

Technique of continuous auto-calibration of redundant strapdown inertial system

Lu Jiazhen, Zhang Chunxi, Zhu Lufeng   

  1. School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2008-03-26 Online:2009-03-31 Published:2010-09-16

摘要: 以余度捷联惯导系统为研究对象,提出了一种新的连续自动标定技术.从惯导系统误差模型出发,推导了这种连续自动标定技术的原理方程,指出在特殊旋转路径下由系统导航解算输出的速度误差将包含惯性器件误差的相关信息.依据惯性器件误差逐级分离的观点,设计了标定旋转路径.在设计的转台连续旋转轨迹下,利用卡尔曼滤波器可以获得全部常值误差项的精确估计.通过构建余度捷联系统标定仿真平台验证了这种技术的有效性.仿真结果表明,与传统的多位置翻滚标定方法相比,该技术标定精度高,操作简单易行,具有较好的工程应用价值.

Abstract: A novel continuous auto-calibration technique was presented for redundant strapdown inertial navigation systems. Principles of the proposed technique were based on strapdown system error models, which indicated that velocity errors from the system could contain information related to inertial sensor errors when rotated along a predefined trajectory. A novel calibration trajectory was designed. All deterministic errors could be accurately estimated through Kalman filtering techniques. Simulation platform for redundant strapdown system was designed to validate efficiency of this technique. Results show that the novel calibration technique outperforms conventional multi-position technique considering its simplicity and precision, which is of great importance for practical applications.

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