CAJ | 학술논문

惯性测量组合(IMU)标定误差分析对于惯性导航系统性能评估、误差分配和器件设备选型具有重要意义,但目前关于高精度IMU标定误差的定量讨论很少.借助四元数旋转矢量理论建立了转台轴正交度误差和转角控制误差模型,结合IMU测量误差的表示,定量分析了一种典型多位置标定编排方式下的标定误差.仿真结果和捷联惯性导航系统的试验结果证实了标定误差分析的正确性.
관성측량조합(IMU)표정오차분석대우관성도항계통성능평고、오차분배화기건설비선형구유중요의의,단목전관우고정도IMU표정오차적정량토론흔소.차조사원수선전시량이론건립료전태축정교도오차화전각공제오차모형,결합IMU측량오차적표시,정량분석료일충전형다위치표정편배방식하적표정오차.방진결과화첩련관성도항계통적시험결과증실료표정오차분석적정학성.
Calibration error analysis of inertial measurement units (IMU) is significant for evaluating navigation system performance, allotting errors, and choosing devices in projects. However, few researches on IMU calibration give the quantificational forms of calibration errors. Based on quaternion, this paper constructs an error model about axes perpendicularity errors and angle control errors of a turntable. Considering measurement errors of gyroscopes and accelerometers in an IMU, we derive the calibration parameters' errors using a typical multi-position calibration method. Finally simulations and calibration tests of a laser gyro strapdown inertial navigation system are performed to verify the calibration error analysis.