摘要
针对传统的系统级标定方法状态变量维数高、标定参数可观测性差等特点,提出一种十位置系统级标定方法。该方法以分立式标定结果为初值,以速度误差和姿态误差作为观测量,合并加速度计标定误差和光纤陀螺标定误差,降低Kalman滤波器维数。设计10个位置对SINS标定误差进行估计,然后将估计值进行解耦,计算SINS标定参数。仿真和转台实验结果表明:十位置系统级标定方法可以一次性标定出标度因数、安装误差和零位等24个标定参数。
In view of the characteristics of traditional systematic calibration method’s high state variable dimension and poor observability,a ten-position systematic calibration method was proposed in this paper. The calibration method takes discrete calibration results as initial values,and speed error and attitude error as observables. By merging accelerometer calibration errors and fiber optic gyro（ FOG） calibration errors,it reduces the dimension of Kalman filter. The calibration method uses ten positions to estimate the calibration error of strapdown inertial navigation system（ SINS）,then decouples the estimation and calculates the calibration parameters. The simulation and turntable experiment results show that ten-position systematic calibration method can calibrate twenty-four parameters including scale factor,installation error and zero.
出处
《弹箭与制导学报》
CSCD
北大核心
2014年第6期8-12,共5页
Journal of Projectiles,Rockets,Missiles and Guidance
基金
国家自然科学基金(41404035)
导航位置服务国家测绘地理信息局重点实验室开放基金(2013NL002)资助
关键词
系统级标定
分立式标定
捷联惯性导航系统
转台实验
systematic calibration method
discrete calibration
strap-down inertial navigation system
turntable experiment
