| 惯性测量组合零偏的一种现场标定方法 |
| |
| 引用本文： | 张红良,武元新,吴美平,胡小平. 惯性测量组合零偏的一种现场标定方法[J]. 弹箭与制导学报, 2009, 29(4) |
| |
| 作者姓名： | 张红良 武元新 吴美平 胡小平 |
| |
| 作者单位： | 国防科学技术大学机电工程与自动化学院,长沙,410073 |
| |
| 摘 要： | 高精度的惯性测量组合(IMU)中,现场标定零偏十分必要.基于输入输出模相等的原则,推导出一个IMU零偏的多位置现场标定方法,该方法是无偏的,且对重力加速度误差不敏感.证明了三个标定位置定理,指出IMU零偏的现场标定至少需要四个位置且IMU测量矢量的顶端不能在同一个平面内,给出了四位置标定精度最高的条件.仿真证明了标定方法的可行性和标定位置定理的正确性.
|
| 关 键 词： | 惯性测量组合 零偏 现场标定 多位置 |
A Field Calibration Method for Zero Bias of Inertial Measurement Unit |
| |
| ZHANG Hongliang,WU Yuanxin,WU Meiping,HU Xiaoping. A Field Calibration Method for Zero Bias of Inertial Measurement Unit[J]. Journal of Projectiles Rockets Missiles and Guidance, 2009, 29(4) |
| |
| Authors: | ZHANG Hongliang WU Yuanxin WU Meiping HU Xiaoping |
| |
| Affiliation: | ZHANG Hongliang,WU Yuanxin,WU Meiping,HU Xiaoping(College of Mechatronic Engineering , Automation,NUDT,Changsha 410073,China) |
| |
| Abstract: | For accurate navigation,it is necessary to calibrate IMU bias on the spot.A multi-position field calibration algorithm was derived for IMU bias based on the fact that the Earth rate and gravity are respectively equal to the output of gyroscopes and accelerometers in magnitude.The proposed algorithm gives an unbiased estimation without being affected by the gravity error.Three theorems about calibration positions imply that at least 4 positions are needed in calibration and all vector vertexes of rotation ra... |
| |
| Keywords: | inertial measurement unit bias field calibration multi-position |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
