留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

基于偏轴转位的捷联惯导系统快速标定方法

苗继松 邵琼玲 任元 陈晓岑 王卫杰

苗继松, 邵琼玲, 任元, 等 . 基于偏轴转位的捷联惯导系统快速标定方法[J]. 北京航空航天大学学报, 2018, 44(11): 2405-2415. doi: 10.13700/j.bh.1001-5965.2018.0045
引用本文: 苗继松, 邵琼玲, 任元, 等 . 基于偏轴转位的捷联惯导系统快速标定方法[J]. 北京航空航天大学学报, 2018, 44(11): 2405-2415. doi: 10.13700/j.bh.1001-5965.2018.0045
MIAO Jisong, SHAO Qiongling, REN Yuan, et al. Fast calibration method of strapdown inertial navigation system based on partial axis transposition[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(11): 2405-2415. doi: 10.13700/j.bh.1001-5965.2018.0045(in Chinese)
Citation: MIAO Jisong, SHAO Qiongling, REN Yuan, et al. Fast calibration method of strapdown inertial navigation system based on partial axis transposition[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(11): 2405-2415. doi: 10.13700/j.bh.1001-5965.2018.0045(in Chinese)

基于偏轴转位的捷联惯导系统快速标定方法

doi: 10.13700/j.bh.1001-5965.2018.0045
基金项目: 

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

详细信息
    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

    通讯作者:

    任元, E-mail:renyuan_823@aliyun.com

  • 中图分类号: U666.12+3

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

Funds: 

National High-tech Research and Development Program of China 2015AA7026083

Beijing Youth Top Talent Project 2017000026833ZK23

National Natural Science Foundation of China 51605489

More Information
  • 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。

     

  • 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 2  IMU偏轴安装方式结构示意图

    Figure 2.  Structure diagram of partial axis installation for IMU

    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
    下载: 导出CSV
  • [1] 张华强, 赵剡, 陈雨.捷联惯性导航系统整体标定新方法[J].北京航空航天大学学报, 2012, 38(4):459-463. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=QK201200680159

    ZHANG H Q, ZHAO Y, CHEN Y.New system calibration method for strapdown inertial navigation system[J].Journal of Beijing University of Aeronautics and Astronautics, 2012, 38(4):459-463(in Chinese). http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=QK201200680159
    [2] 丁继成, 李冠男, 班镜超.基于双轴位置转台的捷联惯导系统级标定技术[J].舰船科学技术, 2015, 37(4):76-83. doi: 10.3404/j.issn.1672-7649.2015.04.015

    DING J C, LI G N, BAN J C.Research on SINS systematic calibration technique based on dual-axis turntable[J].Ship Science and Technology, 2015, 37(4):76-83(in Chinese). doi: 10.3404/j.issn.1672-7649.2015.04.015
    [3] SUN F, SUN W, GAO W, et al.Research on the technology of rotational motion for FOG strapdown inertial navigation system[C]//Processing of the 2009 IEEE International Conference on Mechatronics and Automation.Piscataway, NJ: IEEE Press, 2009: 4913-4918.
    [4] GAO W, ZHANG Y, WANG J G.Research on initial alignment and self-calibration of rotary strapdown inertial navigation systems[J].Sensors, 2015, 15(2):3154-3171. doi: 10.3390/s150203154
    [5] 王昆明, 谢建, 周召发, 等.双轴旋转捷联惯导的误差参数标定方法[J].西安交通大学学报, 2016, 50(10):153-160. doi: 10.7652/xjtuxb201610023

    WANG K M, XIE J, ZHOU Z F, et al.A calibration method of error parameters for dual-axial rotary strapdown inertial navigation systems[J].Journal of Xi'an Jiaotong University, 2016, 50(10):153-160(in Chinese). doi: 10.7652/xjtuxb201610023
    [6] EDUARDO N, HUGH D W.Initial calibration and alignment of low-cost inertial navigation units for land vehicle applications[J].Journal of Robotic Systems, 1999, 16(2):81-92. doi: 10.1002/(ISSN)1097-4563
    [7] LIU Q, LIU L, QI Z K.Error analysis and compensation of strapdown inertial navigation system[J].Journal of Beijing Institute of Technology:English Edition, 2002, 11(2):117-120. http://en.cnki.com.cn/Article_en/CJFDTOTAL-BLGY200202001.htm
    [8] YUN C S, GOOK P C.A calibration technique for a redundant IMU containing low-grade inertial sensors[J].Electronics and Telecommunications Research Institute Journal, 2005, 27(4):418-425. doi: 10.4218/etrij.05.0104.0191/citedby
    [9] 孙伟.旋转调制型捷联惯性导航系统[M].北京:测绘出版社, 2014:84-87.

    SUN W.Rotary modulation strapdown inertial navigation system[M].Beijing:Surveying and Mapping Press, 2014:84-87(in Chinese).
    [10] 董春梅, 陈希军, 任顺青.捷联惯导系统的一种系统级标定方法[J].导航定位与授时, 2016, 3(4):74-80. http://d.old.wanfangdata.com.cn/Periodical/zggxjsxb200801001

    DONG C M, CHEN X J, REN S Q.Systematic calibration method for strapdown inertial navigation system[J].Navigation Positioning & Timing, 2016, 3(4):74-80(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/zggxjsxb200801001
    [11] 孙枫, 孙伟.基于双轴转位机构的光纤陀螺标定方法[J].控制与决策, 2011, 26(3):346-350. http://d.old.wanfangdata.com.cn/Periodical/kzyjc201103005

    SUN F, SUN W.Research on calibration of IFOG based on two-axis indexing[J].Control and Decision, 2011, 26(3):346-350(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/kzyjc201103005
    [12] 包为民, 申功勋, 李华滨.惯性平台在系统中多位置翻滚自标定方法[J].北京航空航天大学学报, 2011, 37(4):462-465. http://www.cnki.com.cn/Article/CJFDTOTAL-BJHK201104017.htm

    BAO W M, SHEN G X, LI H B.Investigation on inertial platform multi-position rolling self-calibration[J].Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(4):462-465(in Chinese). http://www.cnki.com.cn/Article/CJFDTOTAL-BJHK201104017.htm
    [13] 牟玉涛, 周振威, 方海涛.SINS外场系统级标定方法的优化——最佳六位置[J].北京航空航天大学学报, 2011, 37(7):855-860. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=QK201101694291

    MOU Y T, ZHOU Z W, FAGN H T.Optimization of systematic calibration method for SINS in outer field-optimal six-position[J].Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(7):855-860(in Chinese). http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=QK201101694291
    [14] 杨国梁, 王玮.基于双轴旋转的惯导系统误差自补偿技术[J].北京航空航天大学学报, 2012, 38(4):519-524. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=QK201200690632

    YANG G L, WANG W.Error auto-compensation technology of inertial navigation system based on double-axis rotation[J].Journal of Beijing University of Aeronautics and Astronautics, 2012, 38(4):519-524(in Chinese). http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=QK201200690632
    [15] 谭彩铭, 王宇, 苏岩, 等.捷联惯导系统最简多位置解析对准[J].北京航空航天大学学报, 2015, 41(9):1645-1650. http://bhxb.buaa.edu.cn/CN/abstract/abstract13424.shtml

    TAN C M, WANG Y, SU Y, et al.The simplest multi-position analytic alignment for SINS[J].Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(9):1645-1650(in Chinese). http://bhxb.buaa.edu.cn/CN/abstract/abstract13424.shtml
    [16] 张小跃, 杨功流, 张春熹.三轴一体光纤陀螺高精度标定方法[J].北京航空航天大学学报, 2012, 38(4):478-486. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=QK201200661518

    ZHANG X Y, YANG G L, ZHANG C X.High precision calibration method for three-cluster FOG[J].Journal of Beijing University of Aeronautics and Astronautics, 2012, 38(4):478-486(in Chinese). http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=QK201200661518
    [17] 苗继松, 邵琼玲, 任元.基于三元角的坐标旋转变换方法[J].北京航空航天大学学报, 2017, 43(12):2539-2546. http://bhxb.buaa.edu.cn/CN/abstract/abstract14248.shtml

    MIAO J S, SHAO Q L, REN Y.Coordinate rotation transformation method based on ternary angle[J].Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(12):2539-2546(in Chinese). http://bhxb.buaa.edu.cn/CN/abstract/abstract14248.shtml
  • 加载中
图(11) / 表(1)
计量
  • 文章访问数:  345
  • HTML全文浏览量:  3
  • PDF下载量:  286
  • 被引次数: 0
出版历程
  • 收稿日期:  2018-01-18
  • 录用日期:  2018-04-13
  • 刊出日期:  2018-11-20

目录

    /

    返回文章
    返回
    常见问答