惯性平台自标定中惯性仪表安装误差可观测性分析.docVIP

惯性平台自标定中惯性仪表安装误差可观测性分析 丁智坚，蔡洪，张文杰 (国防科学技术大学 航天科学与工程学院，湖南 长沙 410073) 摘要：针对惯性平台自标定中惯性仪表安装误差可观测性问题，深入研究了系统模型与平台坐标系对惯性仪表安装误差可观测性的影响。根据不同系统动力学模型和观测量构建了四种系统模型。从可观测性定义出发，分析与判断了惯性仪表安装误差在不同系统模型和不同平台坐标系下的可观测性。理论分析和仿真结果均表明惯性仪表安装误差在以下两种情况完全可观：1）观测量为平台框架角和加速度计输出，系统动力学模型为框架角模型，平台坐标系以平台六面体为基准定义；2）观测量为加速度输出，系统动力学模型为姿态角或失准角模型，平台坐标系以加速度计敏感轴为基准定义。 关键词：可观测性；安装误差；自标定；惯性平台 中图分类号：V448. 12 文献标志码：A　　　文章编号： Observability analysis for misalignments of inertial sensors in inertial platform self-calibration Ding Zhijian, Cai Hong, Zhang Wenjie (College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, 410073, China） Abstract: The observability of inertial sensor misalignments in inertial platform self-calibration problem was analyzed, highlighting the effects of the system model and platform coordinate frame on observability. Based on different system dynamic models and measurement vectors, four system models were built up. The observability of inertial sensors misalignments in different models with different definition of platform coordinate frame was investigated. The theory conclusions and simulation results showed that: the system is observable only in two conditions: 1) the system measurement models was built up with platform angles and accelerometer triad outputs, the system dynamic model was built up with platform angles and the platform coordinate frame should be defined with the benchmark hexahedron of platform; 2) the system measurement models was built up only with accelerometers triad outputs, the system dynamic models was built up with platform attitude or misalignment models and the platform coordinate frame should be defined with the accelerometer sensor axes. Key words: observability analysis; misalignments; self-calibration; inertial platform 惯性仪表安装误差是高精度惯性平台主要误差源之一，故使用前需对其进行标定与补偿。然而传统的惯性平台多位置自标定[1-2]或多位置静漂[3-4]等方法均无法有效地标定惯性仪表安装误差。 惯性平台连续翻滚自标定技术[5-10]是一种高精度惯性平台自标定方法。通过框架系统控制平台在1g重力场内连续翻滚，利用Kalman滤波技术完成平台姿态角（或失准角）、惯性仪表安装误差以及仪表自身