现代防御技术 ›› 2018, Vol. 46 ›› Issue (1): 63-68.DOI: 10.3969/j.issn.1009-086x.2018.01.010

• 导航、制导与控制 • 上一篇    下一篇

惯性测量单元内杆臂标定卡尔曼滤波方法

白焕旭, 刘冰, 陈鸿跃, 陈雨   

  1. 北京航天发射技术研究所,北京 100076
  • 收稿日期:2017-01-07 修回日期:2017-07-11 出版日期:2018-02-28 发布日期:2020-11-25
  • 作者简介:白焕旭(1976-),男,河北昌黎人。高工,硕士,主要研究方向为定位定向系统。通信地址:100076 北京9200信箱71分箱 E-mail:liubingdyx@163.com

IMU Inner Lever Arm Calibration Method Based on Kalman Filter

BAI Huan-xu, LIU Bing, CHEN Hong-yue, CHEN Yu   

  1. Beijing Institute of Space Launch Technology,Beijing 100076,China
  • Received:2017-01-07 Revised:2017-07-11 Online:2018-02-28 Published:2020-11-25

摘要: 在高动态环境下,由内杆臂引起的尺寸效应误差是高精度捷联惯导系统的重要误差源之一。从原理上分析了内杆臂误差的产生机理,推导了内杆臂误差的动态误差模型,并结合系统误差模型推导了内杆臂的标定模型,选取考虑了外杆臂误差的速度误差为系统观测量,提出了基于卡尔曼滤波的内杆臂参数辨识方法。试验结果表明,内杆臂标定重复性精度优于2 mm,快速旋转试验中,内杆臂误差补偿后,速度误差减小90%,摇摆试验中的导航精度也得到显著提升。

关键词: 内杆臂, 卡尔曼滤波, 捷联惯导系统, 外杆臂, 尺寸效应, 速度误差

Abstract: Under high dynamic circumstances, the size effect error caused by inner lever arm is an important error source of high accuracy strap-down inertial navigation system (SINS). The mechanism of size effect error is analyzed theoretically. The dynamic error model of inner lever arm is derived, and the calibration model is derived based on inner lever arm model and system error model. By using the velocity compensated with outer lever arm error as the observation, an inner lever arm calibration method based on Kalman filter is established. The experiment results show that the repeatability of inner lever arm parameter is better than 2 mm. In the rapid rotation test, the speed error is reduced by 90% with inner lever arm parameters compensation, and the navigation accuracy in the swing test is improvedsignificantly.

Key words: inner lever arm, Kalman filtering, strap-down inertial navigation system (SINS), outer lever arm, size effect, velocity error

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