一种惯性测量组合陀螺常值漂移外场标定方法

阮 卫; 张秦南; 迪玉茹; 国琳娜; 王立文

doi:10.11993/j.issn.2096-3920.2019.04.012

一种惯性测量组合陀螺常值漂移外场标定方法

doi: 10.11993/j.issn.2096-3920.2019.04.012

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, 主要研究方向为水下航行器导航与控制技术.

中图分类号: TJ630.33; U666.12
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- 被引次数: 0
出版历程
- 刊出日期: 2019-08-31

An Outer Field Calibration Method of IMU Gyro Constant Drift

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: 针对惯性测量组合(IMU)外场标定问题, 文中提出一种IMU陀螺常值漂移3位置外场标定方法。在静基座条件下, 先利用二次对准技术测出产品的姿态角, 再利用卡尔曼滤波估计北向陀螺漂移, 结合3个位置的姿态角和北向陀螺漂移, 再利用最小二乘法对陀螺漂移进行求解。仿真结果表明, 该标定方法简单易行, 无需转台, 能够对陀螺常值漂移进行有效估计。
- 惯性测量组合 /
- 标定 /
- 卡尔曼滤波 /
- 陀螺常值漂移
Abstract: To solve the problem of inertial measuring unit(IMU) gyro constant drift in outer field calibration, a three-position outer field calibration method of IMU gyro constant drift is proposed. Under the static pedestal condition, the attitude angles of the product are measured by the secondary alignment technique, and then the north gyro drift is estimated by Kalman filter. Finally, the gyro drift is solved by the least squares method via combining the attitude angles of the three positions with the north gyro drift. Simulation results show that this method can estimate gyro constant drift effectively without using turntable.
- inertial measuring unit(IMU) /
- calibration /
- Kalman filter /
- gyro constant drift

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参考文献(7)

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