一种用于旋转捷联惯导系统误差分离与补偿的改进环境函数法.pdfVIP

第21 卷第 1 期 中国惯性技术学报 Vol.21 No.1 2013 年 2 月 Journal of Chinese Inertial Technology Feb. 2013 文章编号：1005-6734(2013)01-0016-06 Improved environment function to separate and compensate the errors in rotating SINS LAI Ji-zhou, ZHANG Ling, LIU Jian-ye, LV Pin (Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China) Abstract: The rotating strapdown inertial navigation system can decrease the constant errors of inertial measurement unit(IMU), and improve the position precision of the system. Due to rotating movement, the error output of IMU should be transformed, so the calculation of the comprehensive IMU error is more complicated. In this paper, the characteristics of RSINS were analyzed, and a method called environment function was built and used to identify and separate the IMU error coefficients. Besides, In view of the problems of small sample size and low accuracy in solving the environment function matrix, a weighted least squares method was proposed to resolve the sample weight problem and improve the identified accuracy. The experiment results indicate that the methods of bias-estimation and segmented calibration can significantly compensate the IMU device errors and effectively improve the positioning accuracy of the system. Key words: environment function; bias-estimation; segmented calibration; error compensation 一种用于旋转捷联惯导系统误差分离与补偿的改进环境函数法 赖际舟，张 玲，刘建业，吕 品 （南京航空航天大学 导航研究中心，南京 210016） 摘要：旋转捷联惯导系统可以有效调制惯性器件常值误差，使系统定位精度得到提高