摘要
研究捷联惯导系统标定准确性问题,在没有精密转台等辅助仪器环境下,长时间放置车载惯导标定,存在扩充陀螺和加速度计零偏、刻度因素、安装误差等问题,为解决上述问题,提出了一种利用惯性/卫星的速度、位置、姿态全组合观测量的方法,采用开环滤波对惯性器件进行系统级的估计和补偿。利用可观测性和导航仿真数据进行分析,仿真结果表明,在一定时间内惯性器件误差逐步收敛,初步实现了在线/无需拆卸的惯性器件误差标定。补偿后性能较补偿前有明显的提高,改进方法具有一定的理论和工程参考价值。
The calibration of vehicular inertial equipments without precise turn - table was researched in this pa- per. With drift, scale factor errors, installation errors of gyros and accelerometers extended into the Kalman filter, a method using speed/position/attitude errors of integrated SINS＆GNSS as observation was proposed. The open loop Kalman filter was used to drive and the errors were analysed for the calibration. The observation data and navigation data were analyzed and the results show that, within a certain time, system errors can gradually converge, achieving the online calibration results without removal of the inertial system. The precision of the navigation outputs after com- pensation is much better than before. The approach in this paper has some practicality and engineering guidance.
出处
《计算机仿真》
CSCD
北大核心
2012年第8期336-339,343,共5页
Computer Simulation
关键词
系统级标定
在线标定
扩充卡尔曼
惯性/卫星全姿态组合
Systematic calibration
Online calibration
Extended Kalman filter
SINS/GNSS integrated system
