摘要
惯性测量单元(IMU)是捷联惯性导航系统的核心设备,IMU的精度直接影响捷联惯性导航系统的精度。标定精度和速度是评价IMU标定方法的主要指标。传统标定方法是先进行温度补偿,再利用高精度三轴转台进行位置和速率实验,共需耗费约4天时间。虽然能够保证IMU的标定精度,但该方法复杂耗时。为改善复杂耗时的传统标定方法并保证标定精度,以便于批量生产,提出了基于双轴转台的8位置系统级标定方法。该方法基于27维状态向量的卡尔曼滤波器,以导航速度误差为观测量。该方法基于带温箱双轴转台设计,每个温度点需40 min进行标定。仿真和试验结果表明,该方法能够标定21个IMU误差参数,且该标定方法与传统标定方法相比标定时间更短,导航精度更高。
Inertial Measurement Unit(IMU) is the core device of strapdown inertial navigation system(SINS), and the accuracy of IMU has direct influence on the precision of SINS. Accuracy and speed are main characteristics to evaluate a calibration method of IMU. The traditional factory calibration is performed on a high-precision 3-axis turntable via position tests and rotation tests, and it takes about 4 days to complete,including the temperature compensation. Even though the accuracy of IMU can be ensured, the calibration is still very time consuming. In order to improve the complex traditional calibration method without decreasing the accuracy for mass production, an eight-position systematic calibration method with temperature compensation is proposed. The method is based on Kalman filter with a 27-dimension state vector, and the velocity error in navigation is used as the measurement. It is designed for the calibration of IMU on a 2-axis turntable with a thermal chamber, which takes 40 min at each temperature point. Simulation and practical experiments are performed to verify the feasibility of this calibration method, which show that the proposed method is superior to the traditional calibration method both in calibration time and navigation precision.
引文
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