混合式惯导系统自标定技术研究

混合式惯导系统是一种集平台式、捷联式、旋转式惯导系统优点于一体的新型惯导系统。该型惯导可利用自身的旋转机构和高精度、高分辨率角度传感器实现不拆机条件下的误差参数自标定功能,极大简化了标校流程和系统维护工作量,有利于武器平台和作战系统效能的发挥。针对混合式惯导系统的结构特点和典型的旋转方式进行了误差分析,给出了误差参数自标定的设计原则和方法,并用混合式惯导原理样机进行了验证,结果表明,所设计的自标定方案能够在不拆机条件下利用自身旋转机构完成对陀螺漂移、加计零偏、刻度系数误差及安装偏角等参数进行精确估计,因此具有较高的理论意义和工程应用价值。

Research on self calibration technique for hybrid inertial navigation system

Hybrid inertial navigation system (HINS) is a novel navigation system, which integrates the advantages of platform INS, strapdown INS and rotational INS. Rotational gimbals and high precision high resolution optical grating angle sensors are employed in the HINS, which can achieve the self calibration of the HINS error parameters without removing it from the vehicle, thus simplifies the ground calibration task and system routine maintenance, and is conducive to the effectiveness of weapon platform and combat system. Aiming at the structure characteristics and typical rotation modes of HINS, this paper conducts the error analysis for the HINS. Then the designing principle and method of the self calibration scheme for HINS are given, and a concrete self calibration scheme is provided. The verification experiment of the HINS principle prototype was carried out. Experiment results show that the designed self calibration scheme can achieve the accurate estimations of the gyro drifts, accelerometer biases, scale factor errors and installation angle deviations using its own rotation mechanism without removing the HINS from the vehicle, and the calibration accuracy could satisfy the requirements of actual engineering. The proposed self calibration scheme possesses high theoretical significance and engineering application value.