摘要
未经完全补偿的加速度计标定误差会残留到初始对准阶段,引起水平姿态误差。针对这一问题,提出一种基于卡尔曼滤波初始对准的标定加速度计零偏和安装误差角的新方法。在分析水平对准精度的基础上,推导出加速度计标定误差模型,给出四步骤十位置标定编排方案。确定了最优标定路径,仿真验证了转台最优路径的有效性。表明该方法能在对准阶段利用水平姿态误差进一步补偿残余标定误差,提高加速度计的标定精度。
The non complete compensated calibration errors of an accelerometer can remain in initial alignmere stage and lead to horizontal misalignments. A new approach is presented to calibrate accelerometer bias and fix error angle based on Kalman filter in initial alignment. Based on the analysis of horizontal misalignments, an accelerometer calibration error model is derived, and a four-step-ten-position calibration scheme is given. The optimal calibration path is analyzed, and its effectiveness is proved by simulation. The result shows that this method can further compensate the residual calibration errors with horizontal misalignments, thus improving accelerometer calibration accuracy.
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2011年第10期2272-2276,共5页
Systems Engineering and Electronics
基金
国家自然科学基金(60775001
60834005)资助课题
关键词
加速度计
十位置标定
水平失准角
卡尔曼滤波
accelerometer
ten position calibration
horizontal misalignment
Kalman filter
