36维Kalman滤波的激光陀螺捷联惯导系统级标定方法

分析了系统级标定的研究现状,建立了惯导系统误差模型。额外考虑加速度计二次项误差系数与内杆臂参数对系统的影响,提出了一种36维Kalman滤波系统级标定方法。设计了合适的标定路径,建立了Kalman滤波模型。仿真及实验结果表明,激光陀螺和加速度计零偏估计精度分别优于0.001()/h和9 g,标度因数误差估计精度分别优于3 ppm(1 ppm=10-6)和2 ppm,安装误差角估计精度分别优于1和3,二次项误差系数估计精度优于410-10 s2/m,内杆臂参数估计精度优于3 mm,满足高精度惯导系统的标定要求。

Systematic calibration method based on 36-dimension Kalman filter for laser gyro SINS

The research status of systematic calibration was analyzed, and an inertial navigation system error model was established. Additionally considering the influences of quadratic term error coefficient of the accelerometer triad and the inner lever arm parameters to the system, a systematic calibration method was proposed based on 36-dimension Kalman filter. An appropriate calibration path was designed and a Kalman filtering model was established. Simulation and experiment results indicate that the accuracy of the estimated biases is better than 0.001()/h and 9 g for the laser gyroscopes and the accelerometers respectively, the accuracy of estimated scale factor errors is better than 3 ppm and 2 ppm respectively, the accuracy of estimated installation error angle is better than 1 and 3 respectively, the accuracy of estimated quadratic term error coefficient is better than 410-10 s2/m, and the accuracy of estimated inner lever arm parameters is better than 3 mm. Therefore, this method satisfies the demands of high precision inertial navigation system calibration.