双轴转台误差对加速度计标定精度的影响
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摘要
自主式水下航行器(AUV)的水下导航精度主要取决于捷联惯导系统(SINS)的精度,文中对双轴位置转台误差(水平安装误差、水平仪调平误差、不正交安装误差等)进行了分析,将转台误差直接定义在转台误差坐标系中。根据已有的惯性器件误差模型,选定理想六位置的标定路径,得到重力加速度在转台误差坐标系中的真实投影值,并采用解析方法对含转台误差(尚未考虑各项误差之间的相互关系)的标定过程进行推导。通过设计合理的标定编排路径和有效的数学解析求解算法得到标定误差参数值的估计。仿真标定结果表明:在短时间内可以验证标定方法的可行性,且标定误差参数值在合理的误差范围内,从而证明了含转台误差的标定路径编排算法的正确性。
The accuracy of a strapdown inertial navigation system(SINS) directly determines the underwater navigation accuracy of an autonomous underwater vehicle(AUV). In this paper, the two-axis turntable position errors(including horizontal installation error, gradienter leveling error, non-orthogonal installation error, etc.) were analyzed, and the turntable errors were defined directly in the turntable coordinate system. According to the existing of inertial device error model, six ideal position calibration paths were selected, real projection value of acceleration of gravity in the coordinate system was obtained, the calibration process with turntable error was derived by using analytic method(without considering the relationship between the errors), and calibration error estimation of parameter was accomplished through reasonable design of calibration path and effective mathematical algorithm. Simulation calibration results show that the proposed calibration method is feasible in a short time, and the calibration error parameter value is within the reasonable error range, which proves the correctness of the proposed calibration path scheduling algorithm.
The accuracy of a strapdown inertial navigation system(SINS) directly determines the underwater navigation accuracy of an autonomous underwater vehicle(AUV). In this paper, the two-axis turntable position errors(including horizontal installation error, gradienter leveling error, non-orthogonal installation error, etc.) were analyzed, and the turntable errors were defined directly in the turntable coordinate system. According to the existing of inertial device error model, six ideal position calibration paths were selected, real projection value of acceleration of gravity in the coordinate system was obtained, the calibration process with turntable error was derived by using analytic method(without considering the relationship between the errors), and calibration error estimation of parameter was accomplished through reasonable design of calibration path and effective mathematical algorithm. Simulation calibration results show that the proposed calibration method is feasible in a short time, and the calibration error parameter value is within the reasonable error range, which proves the correctness of the proposed calibration path scheduling algorithm.
引文
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[2]丁枫,冯丽爽,晁代宏,等.转台安装误差对光学捷联惯导标定的影响分析[J].弹箭与制导学报,2013,33(1):19-24.Ding Feng,Feng Li-shuang,Chao Dai-hong,et al.The Influence of Turntable Fixing Errors on Optical Gyro Strapdown Inertial System Calibration[J].Jounal of Projectiles,Rockets,Missiles and Guidance,2013,33(1):19-24.
[3]贾明,王振飞,晁代宏.双轴转台误差对IMU标定精度的影响分析[J].导航与控制,2012,11(2):68-72.Jia Ming,Wang Zhen-fei,Chao Dai-hong.Effects of the Two-axis Turntable′s Errors on the Accuracy of IMU[J].Navigation and Control,2012,11(2):68-72.
[4]邓志红,刘亚辰,王清哲,等.转台角位置基准误差对激光捷联惯导标定的影响分析[J].中国惯性技术学报,2009,17(4):489-504.Deng Zhi-hong,Liu Ya-chen,Wang Qing-zhe,et al.Influence of Truntable Angular Position Reference Errors on Laser SINS Calibration[J].Journal of Chinese Intertial Technology,2009,17(4):489-504.
[5]张红良.陆用高精度激光陀螺捷联惯导系统误差参数估计方法研究[D].长沙:国防科学技术大学,2010.
[6]康宇航,周绍磊,匡宇,等.高精度捷联惯导系统的系统级标定方法[J].兵工自动化,2013,32(1):53-57.Kang Yu-hang,Zhou Shao-lei,Kuang Yu,et al.Systematic Calibration Method for High-precision Strapdown Inertial Navigation System[J].Ordnance Industry Automation,2013,32(1):53-57.
[7]肖桂平,张红良,吕鸣,等.转台非正交度和不水平度误差对陀螺标定精度的影响分析[J].系统仿真学报,2009,20(增):370-373.Xiao Gui-ping,Zhang Hong-liang,LüMing,et al.Effect of Turntable′s Orthogonal Error and Horizontal Error on Gyro Calibration Accacy[J].Journal of System Simulation,2009,20(z):370-373.
[8]Savage P G.Strapdown Analytics[M].Maple Plain,Minnesota:Strapdown Associates,Inc,2007.
[9]严恭敏,秦永元.激光捷联惯组的双轴位置转台标定仿真[J].中国惯性技术学报,2007,15(1):123-127.Yan Gong-min,Qin Yong-yuan.Calibration Simulation for Laser Strapdown IMU with Two-axis Turntable[J].Journal of Chinese Intertial Technology,2007,15(1):123-127.
[10]肖桂平.光学陀螺捷联惯导系统的标定精度分析[D].长沙:国防科学技术大学,2008.
[11]谢波,秦永元,万彦辉.激光陀螺捷联惯导系统多位置标定方法[J].中国惯性技术学报,2011,19(2):157-162.Xie Bo,Qin Yong-yuan,Wan Yan-hui.Multiposition Calibration Method of Laser Gyro SINS[J].Journal of Chinese Inertial Technology,2011,19(2):157-162.
[12]梅春波.基于MEMS惯性器件的应急地平仪研究[D].西安:西北工业大学,2010.