陀螺误差现场系统标定方法研究

为了补偿在实际使用环境中陀螺误差对捷联惯导系统带来的影响,提出了陀螺误差的现场系统标定方法.该方法采用四元数微分方程作为系统方程,利用加计估计出的两个水平姿态角和磁罗盘或GPS辅助给出的方位角作为观测,建立广义卡尔曼滤波方程对陀螺误差进行滤波估计.同时设计了1种简单的静基座转动的标定路径用于陀螺误差系数的分离.仿真结果表明该方法可行有效,估计结果能够很好地弥补捷联惯导系统中陀螺各误差因素的影响.

A Field Calibration Approach for Gyro Errors

In order to eliminate the influences of gyro errors in the actual environment,an on-site general kalman filtering calibration approach for gyro erros is put foward.It uses the quaternion kinematics equation as the system model,and the measurement model is developed by using horizontal attitude angles from accelerometers and azimuth angle from magnetometers or GPS.A simple calibration path by rotation on the stationary base is designed to distinguish the gyro errors.It is proved that this method is feasible ...