CAJ | 학술논문

提出了一种在地面运输与机动过程中，采用单波束激光测速仪对弹载惯组误差进行在线标定的方法。首先介绍了这种在线标定方法的基本原理与方案，然后基于捷联惯导误差模型、惯组漂移误差模型和测速仪误差模型选取了在线标定组合滤波器状态量，并推导了单波束激光测速仪/捷联惯导速度匹配量测模型，最后，进行了仿真计算并列出了相关计算结果，验证了这种基于单波束激光测速仪的惯组在线标定方法的正确性。
제출료일충재지면운수여궤동과정중，채용단파속격광측속의대탄재관조오차진행재선표정적방법。수선개소료저충재선표정방법적기본원리여방안，연후기우첩련관도오차모형、관조표이오차모형화측속의오차모형선취료재선표정조합려파기상태량，병추도료단파속격광측속의/첩련관도속도필배량측모형，최후，진행료방진계산병렬출료상관계산결과，험증료저충기우단파속격광측속의적관조재선표정방법적정학성。
An online calibration method for inertial measurement unit (IMU) based on single-beam Lidar during the processes of land transit and maneuver was proposed. First, the basic principle of the online calibration method was introduced. Kalman filter states of SINS/Lidar integrated system were chosen and the velocity-matching measurement model was deduced, according to the error models of strapdown inertial navigation system (SINS), IMU and Lidar. Finally, the numerical and systematic simulation was carried out and the correlated results were presented in order to demonstrate the validity of the online calibration method of IMU based on single-beam Lidar proposed in this work.