| 激光陀螺捷联惯导系统中惯性器件误差的系统级标定 |
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| 引用本文： | 林玉荣,邓正隆.激光陀螺捷联惯导系统中惯性器件误差的系统级标定[J].哈尔滨工业大学学报,2001,33(1):112-115. |
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| 作者姓名： | 林玉荣 邓正隆 |
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| 作者单位： | 哈尔滨工业大学控制科学与工程系, |
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| 摘 要： | 为评估激光陀螺SINS的性能，需对系统中的惯性器件误差，包括随机漂移误差、刻度系数误差与安装误差角等，进行系统级标定。提出了卡尔曼滤波校准法，此方法利用激光陀螺SINS六位置静基座测试数据来标定系统中的惯性器件误差。其实现过程包括两步：首先，基于降阶处理思想，利用SINS的静基座测试数据，通过卡尔曼滤波来估计SINS系统中激光陀螺随机漂移误差及其他误差参数的耦合参量；第二步，比较两组不同位置的静基座测试数据的滤波辨识结果，对不同形式的耦合参量估值进行标量运算，即可获得SINS系统中其它惯性器件误差参数的校准值。卡尔曼滤波校准法的方法比较简单，测试易于实现，只需要一台精度比较高的手动三轴定位转台即可。另外，卡尔曼滤波法具有对测量噪声及环境干扰的影响不敏感、校准精度高的优点。卡尔曼滤波校准法的有效性与可行性已通过仿真测试得到了验证。
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| 关 键 词： | 激光陀螺 捷联惯导系统 随机漂移误差 惯性器件 标定 |
| 文章编号： | 0367-6234(2001)01-0112-04 |
| 修稿时间： | 2000年5月30日 |
Systematic calibration for inertial instruments errors in laser gyro strapdown inertial navigation system |
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| LIN Yu-rong,DENG Zheng-long.Systematic calibration for inertial instruments errors in laser gyro strapdown inertial navigation system[J].Journal of Harbin Institute of Technology,2001,33(1):112-115. |
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| Authors: | LIN Yu-rong DENG Zheng-long |
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| Abstract: | Presents the Kalman filtering calibration approach developed to calibrate inertial instrument errors in a laser gyro SINS using systematic measurements from the six-position test on a fixed base, which includes estimating both laser gyro′s random drift errors and coupled error parameters in SINS system from systematic measurements from fixed-based test by Kalman filter and comparing filtering results of two different position test and processing estimates of coupled error parameters and then computing calibration values of other inertial instrument errors and points out that the Kalman filtering calibration approach is simple and the test can be easily implemented using only a manual three-axis orientation-rotating table at high precision, and the advantages of the Kalman calibration approach being insensitive to both measurement noise and environment disturbance and being of high precision demonstrates both the feasibility and validity of the new calibration approach. |
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| Keywords: | laser gyro inertial navigation system random drift error |
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