CAJ | 학술논문

　　精确的误差标定技术是提高惯导系统精度的重要基础，故在使用前要对惯性测量单元进行标定。根据误差来源建立了陀螺和加速度计的误差模型，提出并推导了一种采用多位置和速率相结合的标定方法。利用多位置试验标定出加速度计的零偏、标度系数、安装误差，陀螺的零偏以及与加速度有关的误差系数，利用正负对称的速率试验法标定出陀螺的标度因数和安装误差。将算法进行仿真验证，能有效减少误差，具有一定的工程应用价值。
　　정학적오차표정기술시제고관도계통정도적중요기출，고재사용전요대관성측량단원진행표정。근거오차래원건립료타라화가속도계적오차모형，제출병추도료일충채용다위치화속솔상결합적표정방법。이용다위치시험표정출가속도계적령편、표도계수、안장오차，타라적령편이급여가속도유관적오차계수，이용정부대칭적속솔시험법표정출타라적표도인수화안장오차。장산법진행방진험증，능유효감소오차，구유일정적공정응용개치。
Accurate error calibration technology is the essential foundation for improving the precision of inertial navigation system,thus the inertial measurement unit must be calibrated before using . The error models of gyroscope and accelerometer were established according to the error source,and a calibration method based on multi-position and velocity was given .The multi-position test was used to calibrate the zeros bias,scale factors and installing errors of the accelerometer,and the zeros bias and acceleration related error of the gyro .The positive and negative symmetrical speed testing on the single-axis table was used to calibrate the scale factor and installing error of the gyro .The simulation results indicate that the above method can accurately calibrate the above error coefficient,which has certain project application value.