摘要
本文针对传统的IMU动静混合标定方法中IMU必须精确定向且实验过程复杂的问题,提出了一种改进的IMU无定向动静混合高精度标定方法,该方法仅需测试设备提供水平基准,通过6个位置的十二次旋转实验,即可标定出陀螺标度因数、常值漂移、安装误差、与g有关项和加速度计标度因数、常值偏置、安装误差等全部33个误差系数。实验结果表明,该方法与传统的动静混合高精度标定方法准确度相当,但标定的过程得到了简化,标定效率也得到了大大的提高。
In classical dynamic-static hybrid calibration of strapdown inertial navigation system （SINS）, test equipment, such as turntable, must perform north-seeking to determine the nominal input of SINS. A modified hybrid calibration method without orientation is proposed in this paper. Firstly, the error model including 33 error coefficients of IMU is established through rotating experiments in six positions. The calibrated coefficients include scale factor, constant error, misalignment and g compliance error and etc. Then, the new calibration method without orientation for SINS is presented in detail. Finally, the experiments based on this modified calibration method and classical hybrid calibration method are carried out individually. Experiment results indicate that the modified hybrid calibration method can accurately determine 33 error coefficients of IMU, and the accuracy of this method is equivalent to that of the classical hybrid calibration method in which the test equipment must perform north-seeking. The process of the modified hybrid calibration method is much simpler than that of the classical one, which improves the efficiency of the calibration of SINS.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2008年第6期1250-1254,共5页
Chinese Journal of Scientific Instrument
基金
国家863计划(2006AA12A108)
北航青年创新基金资助项目
