中国空间科学技术

›› 2014, Vol. 34 ›› Issue (1): 42-49.doi: 10.3780/j.issn.1000-758X.2014.01.006

• 研究探讨 • 上一篇    下一篇

IMU安装及标度因数误差动态参数辨识方法

彭惠, 熊智, 王融, 刘建业, 王洁   

  1. (南京航空航天大学导航研究中心，南京 210016)
  • 收稿日期:2013-05-24 修回日期:2013-08-05 出版日期:2014-02-25 发布日期:2014-02-25
  • 作者简介:彭 惠, 1988年生，2011年毕业于南京航空航天大学自动化专业，现为南京航空航天大学导航研究中心硕士研究生。研究方向为惯性导航技术与组合导航技术。
  • 基金资助:

    国家自然科学基金（91016019、61374115、61210306075），航空科学基金（2011ZC52044），中央高校基本科研业务费专项资金（NP2012505），南京航空航天大学博士学位论文创新与创优基金（BCXJ1005），江苏省六大人才高峰资助项目

Dynamic Parameter Identification Research onthe Installation Errors and the Scale Factor Errors of the IMU

PENG Hui, XIONG Zhi, WANG Rong, LIU Jian-ye, WANG Jie   

  1. (Navigation Research Center,Nanjing University of Aeronautics & Astronautics，Nanjing 210016)
  • Received:2013-05-24 Revised:2013-08-05 Published:2014-02-25 Online:2014-02-25

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摘要： 空间飞行器高动态运动特性可能导致惯性导航系统中惯性传感器（Inertial Measurement Unit，IMU）的安装误差和标度因数误差发生显著变化，若不采用动态参数辨识技术加以在线标定和补偿，将可能严重影响导航精度。文章设计了一种IMU安装误差和标度因数误差参数的动态辨识方法，建立了包含安装误差和标度因数误差在内的IMU误差模型，设计了基于卡尔曼滤波的IMU安装误差和标度因数误差参数的动态辨识方案，分析了不同机动飞行方式下IMU安装误差和标度因数误差的可观测性。仿真结果表明，利用所设计的动态参数辨识方法能较为准确地对安装误差及标度因数误差进行在线标定和补偿校正，有效提高了惯性导航系统精度。

关键词: 惯性传感器, 安装误差, 标度因数误差, 误差建模, 动态辨识, 导航

Abstract: The high dynamic flight characteristic of space vehicles may lead to a significant variation of the installation errors and the scale factor errors of the inertial measurement unit (IMU).If the errors can′t be calibrated and compensated,it may reduce the navigation precision of the inertial navigation system (INS) seriously.A method to dynamically identify the parameter of the installation errors and the scale factor errors was proposed. An augmented error model of the IMU including the installation errors and the scale factor errors of the IMU was built. Based on the Kalman filter, the dynamic parameter identification of the installation errors and the scale factor errors was designed. The observability of the installation errors and the scale factor errors with different maneuvers was analyzed. The simulation results show that the proposed dynamic identification method can effectively calibrate the installation errors and the scale factor errors online. With the calibrated results, the IMU errors are compensated and the precision of the INS is improved significantly.

Key words: Inertial measurement unit, Installation errors, Scale factor errors, Error modeling, 〖JP〗Dynamic identification, Navigation