基于三轴转台的惯测组合最优标定方法研究

三轴转台是惯性测量单元模型系数标定的核心设备，其综合指向误差会对标定测试造成影响，降低了惯性测量单元的应用精度。面向实际应用，基于黑箱分析方法进行了仿真分析和数据挖掘，研究了综合指向误差造成的测试误差规律，并据此编排了基于UOT形式三轴转台的惯性测量组合最优分立式标定方法。该方法通过24个位置和5个初始状态下的6次转动测试，在尽可能减少标定时间的基础上最大程度抑制了标定误差，标定精度显著优于传统标定方法，具有重要的工程应用价值。

Research on the Optimal Calibration Method of IMU Based on Three-axis Turntable

The three-axis turntable is the key equipment of the model coefficient calibration of the inertial measurement unit. Its integrated pointing error will affect the calibration test and reduce the application accuracy of the inertial measurement unit. For practical engineering application, based on the black box analysis method, the simulation analysis and data mining are carried out, and the rule of test error caused by the integrated pointing error is studied. According to this, the optimal discrete calibration method of inertial measurement unit based on the UOT three-axis turntable is arranged. Through tests on 24 positions and 6 rotations of 5 initial states, the calibration error is restrained to the greatest extent with the shortest calibration time, and the calibration accuracy is significantly higher than the traditional method, which has important engineering application value.