捷联惯导系统复杂误差参数系统级标定方法

重点研究捷联惯导系统复杂误差模型的建立，提出了一种新的包含加速度计内杆臂参数和温度误差系数的系统级标定方法。该方法基于45维卡尔曼滤波器对误差参数进行辨识估计，并通过温度控制试验箱控制标定过程中的温度变化。仿真实验表明该方法能够同时标定出激光陀螺和加速度计的零偏、标度因数误差、安装误差以及加速度计的内杆臂参数和温度误差系数。导航实验结果表明，对标定参数进行多误差源补偿之后，10 h导航实验水平最大定位误差为0.6 n mile （1 n mile=1.852 km），相较于不经过补偿，导航精度提升了37.5%。

System-level calibration method for complex error coefficients of strapdown inertial navigation system

The establishment of a complex error model of strapdown inertial navigation system is researched, and a new system-level calibration method isproposed, which includes the inner level arm parameters of the accelerometer and temperature error coefficients. The method is based on the 45-dimensional Kalman filter to identify and estimate the error parameters, and the temperature change in the calibration process is controlled by a temperature control test chamber. Simulation experiments show that this method can simultaneously calibrate the constant drift, scale factor error, installation error of the laser gyroscope and accelerometer, as well as the inner level arm parameters and temperature coefficients of the accelerometer. The results of the navigation experiment show that when using the calibration parameters compensated for multiple error sources, the maximum positioning error of the navigation for 10 h is 0.6 n miles. The navigation accuracy is improved by 37.5% compared to that without compensation.