电光与控制, 2020, 27 (2): 60, 网络出版: 2020-05-12  

一种用于旋转式惯导自对准的内杆臂标定方法

An Inner Lever-Arm Calibration Method for Self-Alignment of Rotating IMU
作者单位
湖北航天技术研究院总体设计所,武汉 430040
摘要
旋转式惯导敏感点与载体坐标系原点不重合,自对准过程中存在角运动,从而引入杆臂效应误差。根据杆臂效应误差模型分析了旋转式惯导内杆臂对自对准的影响,针对这一问题提出了一种结合自对准流程的杆臂标定方法。该方案无需额外的标定流程,能方便地进行工程应用。测试试验结果表明,该方案能准确地标定出旋转式惯导的内杆臂,标定精度为1.1 mm;杆臂补偿后能明显提升自对准精度,方位对准精度提高了35%。
Abstract
The sensitive point of the rotating IMU does not coincide with the origin of the aircraft body coordinate system, there is angular motion in the process of the self-alignment, thus the lever-arm effect error is introduced.In this paper, analysis is made to the influence of rotating inertial navigation inner arm on the self-alignment according to the lever-arm effect error model.In order to solve the problem, a method of arm calibration combined with self-alignment process is proposed.The method does not need additional calibration process, and can be easily implemented in engineering applications.The test results show that:1) The method can accurately calibrate the inner arm of rotating IMU, with the calibration accuracy of 1.1 mm;and 2) After the compensation of the arm, the self-alignment accuracy can be significantly improved, and the azimuth alignment accuracy is improved by 35%.

胡华峰, 刘明, 李旦, 施丽娟. 一种用于旋转式惯导自对准的内杆臂标定方法[J]. 电光与控制, 2020, 27(2): 60. HU Huafeng, LIU Ming, LI Dan, SHI Lijuan. An Inner Lever-Arm Calibration Method for Self-Alignment of Rotating IMU[J]. Electronics Optics & Control, 2020, 27(2): 60.

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