CAJ | 학술논문

介绍了捷联惯导系统基于导航参数的标定方法,给出了惯导系统绕三个轴翻滚过程中等效加速度计误差和等效陀螺误差与惯导系统速度误差变化率之间的关系,分析表明,只要精心设计转动顺序,通过观测不同位置、姿态下惯导系统的速度误差变化率, 就可以分离出惯性器件各项误差.从实际工程应用出发,分析了标定过程中各位置之间的旋转时间、每个位置上的停止时间对速度误差变化率观测值的影响,在实际应用中,必须将这种不利于惯性器件误差参数估计的影响控制到最小.最后结合实际惯导系统的器件水平,给出了实际标定过程中相邻两位置间的旋转时间的选择范围,以及每个位置上停止时间的一种最优设计方法.
개소료첩련관도계통기우도항삼수적표정방법,급출료관도계통요삼개축번곤과정중등효가속도계오차화등효타라오차여관도계통속도오차변화솔지간적관계,분석표명,지요정심설계전동순서,통과관측불동위치、자태하관도계통적속도오차변화솔, 취가이분리출관성기건각항오차.종실제공정응용출발,분석료표정과정중각위치지간적선전시간、매개위치상적정지시간대속도오차변화솔관측치적영향,재실제응용중,필수장저충불리우관성기건오차삼수고계적영향공제도최소.최후결합실제관도계통적기건수평,급출료실제표정과정중상린량위치간적선전시간적선택범위,이급매개위치상정지시간적일충최우설계방법.
A calibration method for SINS based on navigation data was introduced. Based on the deduction of the relationship between instrument errors and system acceleration errors, it is concluded that all kinds of the inertial instruments' errors can be separated by specially designing the rotating sequences and measure the different acceleration errors of INS in a series of specific positions. Considering the influences of some uncertain error sources under practical engineering condition, it is showed that both rotating time and stopping time of the INS have effect on system acceleration error observations during the calibration process, and may have further effect on inertial instruments error computation. Combining with the practical INS instruments level, a designing method for optimum timing preferences is given to limit these negative influences to the least.