为实现舰载捷联惯导系统在航行中被快速标定的新需求,提出了一种捷联惯导系统在航行中快速在线标定的方法。首先,建立了简化的陀螺和加速度计输出误差方程,从而对Kalman滤波模型实现了降维。该模型以陀螺和加速度计零偏、标度因数误差等15个误差量为状态量,以速度误差和位置误差为量测量。设计了一种标定路径,该标定路径可由惯导系统中的双轴旋转机构实现。仿真结果表明,该方法能够在1800s内快速、准确地估计出15个误差量,具有工程实践价值。
Abstract
To realize the new requirement of rapid calibration of ship-borne strapolown inertial navigation system(SINS) in moving state, the rapid online-calibration method of SINS in moving state is presented in this paper. Firstly, the simplified output error equation of gyros and accelerometers is established to decrease dimensions of the Kalman filter. The Kalman filter includes 15-dimentional calibration-error state parameters including gyro and accelerometer bias, scale factor error. The velocity error and the position error is used as the observation of the Kalman filter. A rotation scheme which can be realized by the dual-axis rotation mechanism of SINS is also designed. The results of simulation indicate that this online-calibration method which has practical engineering value can estimate 15 parameters accurately and rapidly within 1800s.
关键词
捷联惯导系统 /
航行中 /
快速在线标定 /
双轴旋转
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Key words
strapdown inertial navigation system(SINS) /
moving state /
rapid online-calibration /
dual-axis rotation
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中图分类号：
U666.1
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