激光陀螺捷联惯导系统的模观测标定方法

董春梅; 任顺清; 陈希军; 王常虹

doi:doi:10.3788/irla201847.0917007

红外与激光工程, 2018, 47 (9): 0917007, 网络出版: 2018-10-06

激光陀螺捷联惯导系统的模观测标定方法

Calibration method for the laser gyro strapdown inertial navigation system based on norm-observation

论文大纲

董春梅 ^*任顺清陈希军王常虹

作者单位

哈尔滨工业大学空间控制与惯性技术研究中心, 黑龙江哈尔滨 150001

模观测激光陀螺加速度计标定三轴转台 norm observation laser gyro accelerometer calibration three-axis turntable

摘要

为了减小转台误差对激光陀螺捷联惯组(SIMU)标定精度的影响, 采用模观测法设计了正二十面体-12点的位置和速率试验计划。首先, 利用在重力场下的12个静态位置标定加速度计的零偏、标度因子和安装误差矩阵; 然后, 采用外环角速率、中内环双轴翻滚至12点位置来标定陀螺的零偏、标度因子和安装误差矩阵; 最后, 利用SIMU框架坐标系为桥梁, 实现了加速度计和陀螺参数坐标系的统一。仿真分析表明: 该方法能有效抑制转台误差对SIMU标定结果的影响, 当转台各轴系垂直度误差为角秒级且角位置误差小于1′时, 加速度计和陀螺的标度因子相对误差和安装误差矩阵的标定误差均小于10-5, 加速度计零偏的标定误差小于10 ?滋g , 陀螺零偏的标定误差小于0.01(°)/h与测量噪声处于同一数量级。

Abstract

In order to reduce the influence of turntable′s errors on the calibration accuracy of SIMU, the position and the rate test plans of the regular icosahedrons-12 points were designed by using norm observation of the specific force and the angular velocity vectors. Firstly, the twelve static positions were utilized to calibrate the accelerometers′ biases, scale factors and mounting errors in the gravity field. Secondly, using single-axis rate and double-axis position mode, namely the outer axis of the three-axis turntable was working in angular rate mode, both the inner and the middle axes were in the twelve positions, the RLGs′ biases, scale factors and mounting errors were calibrated. At the same time, unification of the accelerometer and the gyro parameter coordinate systems was realized by using the SIMU frame coordinate system. Finally, simulation analysis shows that this method can effectively suppress the influence of turntable′s errors on the calibration results of SIMU, the relative calibration errors of the scale factors of the accelerometers′ and the gyros′, and the calibration errors of the installation error matrix are less than 10-5, the calibration errors of accelerometer biases are less than 10 ?滋g, the calibration errors of gyro biases are less than 0.01(°)/h which are in the same order of magnitude of the measurement noises, in the situation that perpendicularities between the turntable’s adjacent axis lines are at the arc second level and that angular position errors are less than 1′.

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董春梅, 任顺清, 陈希军, 王常虹. 激光陀螺捷联惯导系统的模观测标定方法[J]. 红外与激光工程, 2018, 47(9): 0917007. Dong Chunmei, Ren Shunqing, Chen Xijun, Wang Changhong. Calibration method for the laser gyro strapdown inertial navigation system based on norm-observation[J]. Infrared and Laser Engineering, 2018, 47(9): 0917007.

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