激光陀螺捷联惯性导航系统IMU误差标定

针对激光陀螺捷联惯性导航系统惯性测量单元(IMU)误差标定对转台精度、基座对北和调平要求较高，以及系统工作时激光陀螺抖动、长时间工作温度升高、算法复杂等因素，提出了以速度为观测量，采用以最小二乘拟合法的系统级标定法。通过三轴转台多位置测量：静止 转动 静止，快速辨识三轴激光陀螺和三轴加速度计正交安装误差、传感器零偏、刻度因子等24个误差参数，整个标定过程时间约2 h，多位置对准航向、横滚、俯仰测试精度优于0.012°。实验表明，采用该方法算法简单，操作过程便捷，可以有效提高激光陀螺捷联惯性导航系统IMU精度。

Error Calibration of IMU in Laser Gyro Strapdown Inertial Navigation System

As the inertial measurement unit (IMU) error calibration of the laser gyro strapdown inertial navigation system has high requirements on the precision of the turntable, the base north alignment and leveling, and considering the factors such as the jitter of the laser gyro, the temperature rises under long time working, and the complexity of the algorithm during the system operation, a system level calibration method using the speed as the measurement value and the least square fitting method was proposed in this paper. Through three axis turntable to process multi position measurement: stationary rotation stationary, 24 error parameters, such as installation error, sensor zero bias and the scale factor between three axis laser gyro and three axis accelerometer have been rapidly identified. The whole calibration process takes about 2 hours, with the multi position alignment heading, roll, pitch accuracy of higher than 0.012°. The experiment shows that the proposed algorithm is simple and the operation process is convenient, and the IMU precision of the laser gyro strapdown inertial navigation system can be improved effectively.