摘要
转台误差影响高精度惯测组合标定精度。利用姿态转换四元数建立了转台误差模型,分析了转台误差对一种典型惯测组合标定编排方案的影响。在分析转台误差影响规律的基础上,提出了一种标定编排改进方案,可以有效抑制转台误差,提高标定精度。仿真和试验对标定编排改进前后的标定精度和导航性能进行了对比,表明改进编排方案可以提高陀螺和加速度计安装误差角标定精度,改善系统导航性能。
The turntable＇s error model for high-precision inertial measurement units （IMUs） is constructed based on attitude transformation quaternion. First, the propagation of the tumtable＇s errors in typical IMU calibration is analyzed. Then, based on the turntable error analysis, an improved calibration scheme for high precision IMUs is presented, which can effectively reduce the turntable＇s errors and increase the calibration accuracy. Simulation and test results of a laser gyro strapdown inertial navigation system show that the improved calibration scheme can increase the calibration accuracy and improve the navigation performance.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2010年第1期129-134,共6页
Journal of Chinese Inertial Technology
基金
国家自然科学基金(60604011)
关键词
惯测组合
标定
编排
转台误差
inertial measurement units
calibration
scheme design
turntable errors
