| 引用本文: | 张红良,武元新,查亚兵,等.高精度惯测组合标定误差分析.[J].国防科技大学学报,2010,32(1):142-146.[点击复制] |
| ZHANG Hongliang,WU Yuanxin,ZHA Yabing,et al.Calibration Errors of High-precision Inertial Measurement Units[J].Journal of National University of Defense Technology,2010,32(1):142-146[点击复制] |
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| 高精度惯测组合标定误差分析 |
| 张红良, 武元新, 查亚兵, 吴美平, 胡小平 |
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(国防科技大学 机电工程与自动化学院，湖南 长沙 410073)
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| 摘要: |
| 惯性测量组合(IMU)标定误差分析对于惯性导航系统性能评估、误差分配和器件设备选型具有重要意义，但目前关于高精度IMU标定误差的定量讨论很少。借助四元数旋转矢量理论建立了转台轴正交度误差和转角控制误差模型，结合IMU测量误差的表示，定量分析了一种典型多位置标定编排方式下的标定误差。仿真结果和捷联惯性导航系统的试验结果证实了标定误差分析的正确性。 |
| 关键词: 惯测组合(IMU) 标定误差 转台 四元数 |
| DOI： |
| 投稿日期：2009-06-05 |
| 基金项目:国家自然科学基金资助项目(60604011) |
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| Calibration Errors of High-precision Inertial Measurement Units |
| ZHANG Hongliang, WU Yuanxin, ZHA Yabing, WU Meiping, HU Xiaoping |
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(College of Mechatronics Engineering and Automation, National Univ. of Defense Technology, Changsha 410073, China)
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| Abstract: |
| Calibration error analysis of inertial measurement units (IMU) is significant for evaluating navigation system performance, allotting errors, and choosing devices in projects. However, few researches on IMU calibration give the quantificational forms of calibration errors. Based on quaternion, this paper constructs an error model about axes perpendicularity errors and angle control errors of a turntable. Considering measurement errors of gyroscopes and accelerometers in an IMU, we derive the calibration parameters' errors using a typical multi-position calibration method. Finally simulations and calibration tests of a laser gyro strapdown inertial navigation system are performed to verify the calibration error analysis. |
| Keywords: inertial measurement units (IMU) calibration errors turntable quaternion |
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