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IMU Inner Lever Arm Calibration Method Based on Kalman Filter
BAI Huan-xu, LIU Bing, CHEN Hong-yue, CHEN Yu
Modern Defense Technology
2018, 46 (1):
63-68.
DOI: 10.3969/j.issn.1009-086x.2018.01.010
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.
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