单轴旋转捷联惯性导航系统加速度计尺寸误差标定方法

doi:10.3969/j.issn.1000-1093.2017.07.009

兵工学报 ›› 2017, Vol. 38 ›› Issue (7): 1314-1321.doi: 10.3969/j.issn.1000-1093.2017.07.009

单轴旋转捷联惯性导航系统加速度计尺寸误差标定方法

王昆明，谢建，周召发

（火箭军工程大学兵器发射理论与技术国家重点学科实验室，陕西西安 710025）

收稿日期:2016-11-03 修回日期:2016-11-03 上线日期:2018-04-12
通讯作者: 谢建（1967—），男，教授，博士生导师 E-mail:467040646@qq.com
作者简介:王昆明（1988—），男，博士研究生。E-mail:984088528@qq.com
基金资助:
国家自然科学基金项目（41174162）

Calibration Method of Dimension Error of Accelerometer in Single-axial Rotation SINS

WANG Kun-ming, XIE Jian, ZHOU Zhao-fa

(State Key Discipline Laboratory of Armament Launch Theory and Technology, Rocket Force University of Engineering, Xi'an 710025, Shaanxi, China)

Received:2016-11-03 Revised:2016-11-03 Online:2018-04-12

摘要/Abstract

摘要： 加速度计尺寸误差在载体角运动情况下，会造成捷联惯性导航系统导航解算误差，这在单轴旋转捷联惯性导航系统中尤为显著。为提高导航精度，提出一种新的加速度计尺寸误差标定方法。通过分析单轴旋转调制下尺寸误差的作用机理，建立导航误差与尺寸误差的数学模型；为进一步提高标定效果，引入加速度计等效误差作为扩展观测量，利用可观测性分析方法设计具体的标定路径，通过滤波获取尺寸误差参数。仿真和实验结果表明，相比仅以速度误差为观测量的方法，该方法可以实现对加速度计尺寸误差的更高精度快速标定，导航速度解算误差可降低约50%.

关键词: 兵器科学与技术, 旋转调制, 尺寸效应, 扩展观测量, 可观测性分析, 误差标定

Abstract: Accelerometer dimension error leads to navigation velocity error under the carrier angular movement in strapdown inertial navigation system (SINS). This is particularly significant in single-axial rotation SINS. In order to improve the navigation accuracy, a new method is presented to realize the calibration of accelerometer dimension errors. A mathematical model of navigation and dimension errors is established by analyzing the mechanism of action of dimension errors in rotary condition. The equivalent errors of accelerometers are introduced into system as extended measurements to improve calibration effect. A calibration route is designed by observability analysis. The dimension error parameters are acquired by filtering. The simulated and experimental results show that the proposed method has higher calibration accuracy and speed compared with the method that uses speed error as observed quantity, and the amount of navigation velocity errors is decreased by about 50%.Key

Key words: ordnancescienceandtechnology, rotarymodulation, dimensioneffect, extendedmeasurement, observabilityanalysis, errorcalibration

中图分类号:

TJ765.2⁺31

王昆明，谢建，周召发. 单轴旋转捷联惯性导航系统加速度计尺寸误差标定方法[J]. 兵工学报, 2017, 38(7): 1314-1321.

WANG Kun-ming, XIE Jian, ZHOU Zhao-fa. Calibration Method of Dimension Error of Accelerometer in Single-axial Rotation SINS[J]. Acta Armamentarii, 2017, 38(7): 1314-1321.

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单轴旋转捷联惯性导航系统加速度计尺寸误差标定方法

Calibration Method of Dimension Error of Accelerometer in Single-axial Rotation SINS

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