A multi-position self-calibration method for dual-axis rotational inertial navigation system
A multi-position self-calibration method for dual-axis rotational inertial navigation system
复制标题
一种双轴旋转惯性导航系统多位置自标定方法
DOI：
10.1016/j.sna.2014.08.011
复制
发表时间：
2014-11-01
影响因子：
4.6
通讯作者：
Fu, Mengyin
中科院分区：
文献类型：
--
作者：
Ren, Qian;Wang, Bo;Fu, Mengyin
旋转惯导系统的核心是惯性测量单元，为了补偿惯性测量单元的误差，采用自定标作为减小导航误差的有效手段。利用导航解和初始对准误差模型，建立了导航误差与惯性测量单元误差之间的关系。在垂直速度通道中加入二阶阻尼器抑制发散，将垂直速度误差作为估计误差参数的有效观测值。由于自标定方法的精度容易受到框架定位误差的影响，因此采用总最小二乘法对误差参数进行辨识。实验结果表明，所提出的旋转方案能够估计出21个误差参数。与最小二乘（LS）方法相比，TLS方法可将8 h的定位精度提高46.2%。(C) 2014 Elsevier B.V.版权所有
In order to compensate errors of inertial measurement unit which is the core of rotational inertial navigation system, self-calibration is utilized as an effective way to reduce navigation error. Error model of navigation solution and initial alignment is used to establish the relationship between navigation errors and inertial measurement unit (IMU) errors. A second order damper is added to the vertical velocity channel to suppress the divergence and then the vertical velocity error can be regarded as an effective observation to estimate the error parameters. Since the accuracy of the self-calibration method is susceptible to the positioning error of gimbals, total least squares (TLS) method is utilized in identification of the error parameters. Experimental results show that all of the twenty-one error parameters can be estimated with the proposed rotation scheme. Compared to least squares (LS) method, TLS method can improve the position accuracy of 8 h by 46.2%. (C) 2014 Elsevier B.V. All rights reserved.