摘要
针对捷联惯导系统尺寸效应参数标定问题,提出了一种基于转台误差隔离的改进标定方法。先标定出捷联惯导系统中加速度计间的相对位置关系,再基于尺寸效应误差最小原则,对载体坐标系原点位置进行优化,得出尺寸效应参数。克服了传统分立式标定方法的一些不足,从原理上降低了标定对转台的依赖。对于陀螺零偏稳定性优于0.005°/h,加速度计零偏稳定性优于2×10^-5 g的捷联惯导系统:尺寸效应参数标定重复性小于0.01 mm(转速60°/s);在摇摆条件下(幅度30°,频率0.15 Hz),4000 s纯惯性导航平均定位误差由补偿前的3100 m以上减小到补偿后的150 m以内。
Aiming at the calibration problem of size effect parameters for strapdown inertial navigation system(SINS), an improved calibration approach is proposed to isolate turntable errors. Firstly, the relative position relationship of accelerators in the SINS is calibrated. Then based on the minimum size effect error principle, the origin position of the SINS body frame is optimized and the size effect parameters are obtained. The improved approach overcomes some drawbacks of traditional separated calibration methods and weakens the dependence on turntable in calibration. For the SINS whose gyroscope bias stability is better than 0.005 °/h and accelerator bias stability is better than 2×10^-5 g, the calibration repeatability is less than 0.01 mm(rotation speed 60 °/s);the mean position error of inertial navigation after compensation lasting for 4000 s decreases to less than 150 m from greater than 3100 m before compensation under the swaying motion(amplitude 30 °, frequency 0.15 Hz).
作者
杨广强
王志涛
梁化勇
李林
阴丽娟
YANG Guangqiang;WANG Zhitao;LIANG Huayong;LI Lin;YIN Lijuan(Navigation and Control Technology Research Institute of Norinco Group,Beijing 100089,China;No.32381 Troops of PLA,Beijing 100072,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2020年第1期15-19,共5页
Journal of Chinese Inertial Technology
基金
火箭军预研项目(30406020302)。
关键词
捷联惯导系统
尺寸效应
转台误差隔离
摇摆试验
strapdown inertial navigation system
size effect
turntable error isolation
swaying test
