以高精度惯组为参考的MEMS惯组参数在线估计方法

针对传统冗余惯性导航系统存在成本高,体积大,功耗大的问题,提出采用低精度MEMS惯组参与惯性导航冗余的导航系统冗余模式.利用MEMS惯组单次通电稳定性具有优势的特点,利用高精度惯组信息对低精度惯组参数进行在线估计.免除因增加惯性器件导致射前标定的大工作量.针对导航参数在飞行器飞行过程中可能发生变化的问题,提出一种自适应滑动窗口估计方法,利用数据的分散性对有效估计时间进行决策,并采用最小二乘法对参数进行估计,仿真结果表明该方法是有效的.

On Line Estimation of MEMS Inertial Unit Parameters with High Precision Inertial Unit as Reference

In order to solve the problems of high cost, large volume and high power consumption in traditional redundant inertial navigation system, the on-line parameter estimation method of MEMS inertial navigation system (IMU) based on high-precision IMU is proposed. Based on the advantages of single power on stability of MEMS IMU, the parameters of low precision IMU are estimated online by using high precision IMU information. By adding inertial devices, the heavy workload of pre launch calibration is avoided. Aiming at the problem that the navigation parameters may change in the flight process of aircraft, an adaptive sliding window estimation method is proposed. The effective estimation time is determined by the dispersion of data, and the parameters are estimated by the least square method. The simulation results show that the method is effective.