基于平台和正六面体的惯导系统现场标定技术

Calibration Techniques for Inertial Navigation System Based on Platform and Regular Hexahedron

中文关键词:  可观测性  平台及正六面体  对准  现场标定

英文关键词:observability  platform and regular hexahedron  alignment  field calibration

中文摘要:

      针对外场条件下的激光捷联惯组的标定问题，设计了一种适合外场标定的方案。在进行单一位置捷联惯导误差可观测性分析的基础上，提出一种基于平台及正六面体框架的外场标定方法。该方法仅通过翻转正六面体使对称位置误差相消，并且在对准中获取姿态信息，同时精确标定出陀螺漂移和加速度计零偏。 最后对理论分析结果进行了仿真验证，仿真结果表明该方案可以实现外场条件下的陀螺漂移和加速度计零偏的精确标定，具有一定的工程实用价值。

英文摘要:

      To solve the calibration problem of laser strapdown inertial measurement unit (SIMU) under the field condition,on the basis of analyzing the SINS error parameters observability in a single position,a new field calibration method based on a platform and regular hexahedron is brought forward,which counteracts the symmetrical position error by turning the regular hexahedron,obtained the attitude information in alignment,and calibrates accurately gyro drift and accelerometer bias.At last,the simulation is made which proved the analysis results,and this program has some practical value.