关于单波束激光测速仪的惯组在线标定技术.pdfVIP

第42 卷第S2 期 红外与激光工程 2013 年12 月 Vol.42 No.S2 Infrared and Laser Engineering Dec.2013 Online calibration method for IMU based on the usage of single beam Lidar Zhang Xiaoyue, Lin Zhili (School of Instrumentation Science and Optoelectronics Engineering , Beihang University , Beiji ng 100191, China) Abstract: An online calibration method for inertial measurement unit (IMU) based on single鄄beam Lidar during the processes of land transit and maneuver was proposed . First, the basic principle of the online calibration method was introduced. Kalman filter states of SINS/ Lidar integrated system were chosen and the velocity鄄matching measurement model was deduced, according to the error models of strapdown inertial navigation system (SINS) , IMU and Lidar. Finally , the numerical and systematic simulation was carried out and the correlated results were presented in order to demonstrate the validity of the online calibration method of IMU based on single鄄beam Lidar proposed in this work. Key words: IMU; online calibration; Lidar; Kalman filter CLC number: TN253 Document code: A Article ID 1007-2276(2013) S2-0466-06 基于单波束激光测速仪的惯组在线标定技术 小跃，林志立 (北京航空航天大学 仪器科学与光电工程学院, 北京 100191) 摘 要 提出了一种在地面运输与机动过程中，采用单波束激光测速仪对弹载惯组误差进行在线标 定的方法。首先介绍了这种在线标定方法的基本原理与方案，然后基于捷联惯导误差模型、惯组漂移 误差模型和测速仪误差模型选取了在线标定组合滤波器状态量，并推导了单波束激光测速仪/捷联惯 导速度匹配量测模型，最后，进行了仿真计算并列出了相关计算结果，验证了这种基于单波束激光测 速仪的惯组在线标定方法的正确性。 关键词 惯组； 在线标定； 激光测速仪； 卡尔曼滤波 收稿日期 2013-08-09 曰 修订日期 2013-09-10 作者简介 张小跃(1982-) 袁讲师袁博士袁主要从事光学测量与导航技术研究遥 Email:zhangxiaoyue@buaa .edu.cn