CAJ | 학술논문

针对调制型捷联惯导系统（modulated strapdown inertial navigation system，MSINS），提出了惯性组件（inertial navigation unit，IMU）的在线标定路径设计原则。首先根据 IMU 输出误差模型建立了系统误差模型，而后利用该模型，分析了载体无加速运动且转台静止情况下的可观测性，分析结果表明该状态下有一半状态量不可观测；针对该现象，对系统模型进行了能观测性分解，通过分解结果观察无法估计的状态量，并且得到了分解后系统的可观测性矩阵，在此基础上，推导了满足该矩阵满秩的 IMU 运动原则，由此归纳出 IMU 在线标定路径设计原则；最后，利用仿真试验验证了该方法的正确性，半实物仿真试验验证了该方法的工程适用性。
침대조제형첩련관도계통（modulated strapdown inertial navigation system，MSINS），제출료관성조건（inertial navigation unit，IMU）적재선표정로경설계원칙。수선근거 IMU 수출오차모형건립료계통오차모형，이후이용해모형，분석료재체무가속운동차전태정지정황하적가관측성，분석결과표명해상태하유일반상태량불가관측；침대해현상，대계통모형진행료능관측성분해，통과분해결과관찰무법고계적상태량，병차득도료분해후계통적가관측성구진，재차기출상，추도료만족해구진만질적 IMU 운동원칙，유차귀납출 IMU 재선표정로경설계원칙；최후，이용방진시험험증료해방법적정학성，반실물방진시험험증료해방법적공정괄용성。
According to the basic principle of the modulated strapdown inertial navigation system (MSINS), the design principle of on-line calibration trajectory is improved.Firstly,the system error model is established based on the inertial navigation unit (IMU)output error model.And then,the system observability is analyzed in the case of no accelerated motion and no turntable rotating.The results show that half of the state amounts are unobserved.In order to solve the problem,the unobserved state amounts are selected by observability de-composition.And the IMU movement principle,which makes the observability decomposition matrix full rank, is derived.The principle of the on-line calibration trajectory is improved on the basis.Finally,its effectiveness is demonstrated by simulations and turntable experiments.The results show that this design principle can fur-ther compensate for the IMU errors and improve the MSINS accuracy.