捷联惯导外场条件下系统级标定技术仿真方法

阮 卫; 冯连鸣; 国琳娜; 王立文; 张秦南; 洪建英

doi:10.11993/j.issn.2096-3920.2018.04.009

捷联惯导外场条件下系统级标定技术仿真方法

doi: 10.11993/j.issn.2096-3920.2018.04.009

1.
中国船舶重工集团公司第705研究所, 陕西西安, 710077
2.
水下信息与控制国防重点实验室, 陕西西安, 710077

详细信息

作者简介:
阮卫(1993-), 男, 在读硕士, 研究方向为水中兵器惯性导航技术.

中图分类号: TJ630; U666.1; V249.3
计量
- 文章访问数: 648
- HTML全文浏览量: 5
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- 被引次数: 0
出版历程
- 收稿日期: 2018-04-03
- 修回日期: 2018-04-19
- 刊出日期: 2018-08-31

Simulation Method of Systematic Calibration Technology for Strap-Down Inertial Navigation under Outer Field Condition

1.
The 705 Research Institute, China Shipbuilding Industry Corporation, Xi’an 710077, China
2.
Science and Technology on Underwater Information and Control Laboratory, Xi’an 710077, China

摘要

摘要: 为解决实验室标定存在成本高, 工作量大的问题, 文中提出了一种外场条件下、免拆卸的系统级标定技术数值仿真方法, 通过Matlab构建轨迹发生器、惯性测量组合(IMU)模块、惯导解算模块以及滤波器模块, 编排多位置实验对IMU误差进行标定。仿真结果表明, 通过合理的位置设计, 能有效激励IMU误差, 从而对IMU误差进行标定。文中工作可为水下航行器导航定位研究提供参考。
- 水下航行器 /
- 捷联惯导 /
- 轨迹发生器 /
- 系统级标定
Abstract: To solve the problem of high cost and heavy workload for calibration in laboratory, a numerical simulation method of disassembly-free and systematic calibration technology under outer field condition is proposed. The trajectory generator, the module of inertial measurement unit(IMU), the inertial navigation solution module and the filter module are built by using Matlab, and the IMU errors are calibrated by arranging multi-position test. Simulation results show that the IMU errors can be effectively excited by reasonable position design, then the IMU errors can be calibrated. This study may provide a reference for undersea vehicle navigation and positioning research.
- undersea vehicle /
- strap-down inertial navigation /
- trajectory generator /
- systematic calibration

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参考文献(10)

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