36维Kalman滤波的激光陀螺捷联惯导系统级标定方法.pdfVIP

第44卷第5期 红外与激光工程 2015年5月 Vol.44No.5 InfraredandLaserEngineering May2015 36维 Kalman滤波的激光陀螺捷联惯导系统级标定方法 江奇渊，汤建勋，韩松来，袁保伦 (国防科学技术大学光电科学与工程学院，湖南 长沙410073) 摘 要院分析了系统级标定的研究现状，建立了惯导系统误差模型。额外考虑加速度计二次项误差系 数与内杆臂参数对系统的影响，提出了一种36 维Kalman滤波系统级标定方法。设计了合适的标定路 径，建立了Kalman滤波模型。仿真及实验结果表明，激光陀螺和加速度计零偏估计精度分别优于 -6 0.001(毅)/h和9滋g，标度因数误差估计精度分别优于3ppm(1ppm=10 )和2ppm，安装误差角估计精 -10 2 度分别优于1义和3义，二次项误差系数估计精度优于4伊10 s/m，内杆臂参数估计精度优于3mm，满 足高精度惯导系统的标定要求。 关键词院 系统级标定； 加速度计二次项； 内杆臂参数； Kalman滤波； 惯导系统 中图分类号院TN21 文献标志码院A 文章编号院1007-2276(2015)05-1579-08 Systematic calibration method based on 36-dimension Kalman filter for laser gyro SINS Jiang Qiyuan, Tang Jianxun, Han Songlai, Yuan Baolun (College of Opto鄄Electrical Science and Engineering, National University of Defense Technology, Changsha 410073, China) Abstract: The research status of systematic calibration was analyzed, and an inertial navigation system error model was established. Additionally considering the influences of quadratic term error coefficient of the accelerometer triad and the inner lever arm parameters to the system, a systematic calibration method was proposed based on 36-dimension Kalman filter. An appropriate calibration path was designed and a Kalman filtering model was established. Simulation and experiment results indicate that the accuracy of the estimated biases is better than 0.001(毅)/h and 9 滋g for the laser gyroscopes and the accelerometers respectively, the accuracy of estimated scale factor errors is better than