一种基于单轴正反旋转的惯性器件误差估计

为了提高捷联惯导导航精度,构建一种Kalman滤波模型来估计陀螺常值漂移和加速度计零偏。首先分析了载体作单轴正、反旋转运动时,捷联惯导的系统误差特性,然后以正、反旋转两过程中的姿态误差和速度误差为状态变量,以两过程中同一位置处的姿态误差差值和速度误差和值为观测变量,构建了一种Kalman滤波模型,来估计惯性器件常值误差;经可观测性分析,该模型是可观测的。仿真实验中,对于3个陀螺漂移均为0.1(°)/h、加速度计零偏均为9.78×10~(-3 )m/s~2的捷联惯导,陀螺漂移估计精度达到0.01(°)/h,水平方向加速计零偏估计误差均小于0.4×10~(-3 )m/s~2,实验证明该方案可行。

An Instrumental Error Estimation of SINS Based on Forward and Reverse Rotation of Single Axis

In order to improve the precision of strapdown inertial navigation system(SINS), a Kalman filter model is established to estimate the gyro constant drift and the bias of accelerometer. Firstly, the error characters of the SINS in the process of forward and reverse rotation are analyzed. Then, a Kalman filter model is established by setting the attitude errors and velocity errors as the state variable, the difference of attitude errors and the value of velocity errors in the same position as observed variables.The observability analysis shows that the model is observable. In the simulation experiment, when all three gyro drifts of the SINS are 0.1 (°)/h and accelerometer biases are 9.78×10-3 m/s2, the gyro drift estimation precision is better than 0.01 (°)/h,and the error of accelerometer bias estimation in the horizontal direction is less than 0.4×10-3 m/s2.The result shows that the scheme is feasible.