| 引用本文: | 吴赛成,秦石乔,王省书,等.带减振器机抖激光陀螺惯性测量单元标定方法研究.[J].国防科技大学学报,2011,33(2):33-37.[点击复制] |
| WU Saicheng,QIN Shiqiao,WANG Xingshu,et al.Research on Calibration Method for Dither RLGs Inertial Measurement Unit with Shock Absorbers[J].Journal of National University of Defense Technology,2011,33(2):33-37[点击复制] |
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| 带减振器机抖激光陀螺惯性测量单元标定方法研究 |
| 吴赛成, 秦石乔, 王省书, 胡春生 |
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(国防科技大学 光电科学与工程学院，湖南 长沙 410073)
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| 摘要: |
| 由于减振器会产生形变，使得带减振器的机抖激光陀螺惯性测量单元(IMU)不能使用由精密转台提供姿态基准的标定方法进行标定。提出了一种带减振器的机抖激光陀螺IMU标定的新方法，该方法先将IMU固联在精密转台上，不启动陀螺，依靠转台提供姿态参考标定出加表各误差参数；在此基础上装上减振器，设计了IMU陀螺误差参数标定路径，根据陀螺误差输出方程，建立21维的Kalman滤波系统级标定算法，并利用导航解算的速度误差作为其观测量。仿真结果表明，该方法能有效地标定出带减振器的机抖激光陀螺IMU的陀螺标度因数、常值漂移、安装误差和加速度计常值漂移等误差参数，满足高精度惯导系统的标定需求。 |
| 关键词: 机抖陀螺 减振器形变 系统级标定 误差参数辨识 Kalman滤波 |
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| 基金项目:国家“863”高技术计划资助项目(2006AA09Z208) |
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| Research on Calibration Method for Dither RLGs Inertial Measurement Unit with Shock Absorbers |
| WU Saicheng, QIN Shiqiao, WANG Xingshu, HU Chunsheng |
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(College of Opto-electronic Science and Engineering, National Univ. of Defense Technology, Changsha 410073, China)
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| Abstract: |
| Because of the deformation of shock absorbers, the dither RLGs inertial measurement unit (IMU) can not be calibrated using a precise turntable as attitude reference.This paper introduces a new calibration method for dither RLGs IMU,firstly, the RLGs were turned off and the IMU without absorbers was fastened on a precise turntable to calibrate the error parameters of accelerometers;then the shock absorbers were installed on IMU,paper designed a procedure for the calibration of RLGs error parameters. Further more,according to the output error equation of the RLGs, a systematic calibration algorithm of the RLGs IMU was proposed based on a 21 dimensional kalman filter using velocity errors as measurement vector.The simulation results indicate that the novel calibration method can accurately identify RLGs scale factor errors,drifts, misalignments errors and accelerometers drifts, and the accuracy of this method satisfy the requirements of high precision inertial navigation system. |
| Keywords: mechanically dithered RLGs shock absorbers deformation systematic calibration error parameter calibration Kalman filter |
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