Online Calibration Technology of Two-axis Rotation Laser SINS
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摘要: 激光捷联惯导系统中陀螺和加速度计误差是影响系统导航精度的关键因素, 结合双轴旋转激光捷联惯导系统自身的结构特点, 提出了一种以速度误差和位置误差作为量测信息的双轴旋转激光捷联惯导系统在线标定方法, 该方法可以在静态及行进等不同状态下完成在线标定。车载试验结果表明, 在外场没有试验室标定设备如标定平板、高精度转台的条件下, 按文中设计的标定路径及标定方法, 可以准确估计出激光陀螺和加速度计的各项误差参数。该标定方法对标定环境、标定设备要求较低, 且方法原理简单、易于实现。Abstract: The errors of gyros and accelerometers are the key factors affecting the precision of navigation of laser strap-down inertial navigation system(SINS). Based on the framework feature of two-axis rotation laser SINS, an online calibration method was proposed in this study by taking velocity and position errors as measurement information. This method can implement online calibration when the laser SINS are in both stable and moving conditions. Vehicle-borne test indicates that the error parameters of laser gyros and accelerometers can be calibrated precisely with the proposed calibration method and calibration route in the case without calibration devices such as the calibration flat and precise turntable. This calibration method is simple in principle and implementation, and does not require strict conditions for environment and equipment.
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