CAJ | 학술논문

本文研究一种基于双轴位置转台的激光陀螺捷联惯导系统的系统级标定方法。建立了附加约束条件的陀螺和加速度计标定模型，从捷联惯导系统的误差方程出发，建立30维Kalman滤波标定模型，以速度和位置作为观测量，并设计双轴位置旋转路径，对惯性仪表标定参数进行激励与辨识。仿真实验结果表明，该方法能够准确估计出陀螺和加速度计的15个标定误差参数，具有一定的参考价值。
본문연구일충기우쌍축위치전태적격광타라첩련관도계통적계통급표정방법。건립료부가약속조건적타라화가속도계표정모형，종첩련관도계통적오차방정출발，건립30유Kalman려파표정모형，이속도화위치작위관측량，병설계쌍축위치선전로경，대관성의표표정삼수진행격려여변식。방진실험결과표명，해방법능구준학고계출타라화가속도계적15개표정오차삼수，구유일정적삼고개치。
This paper studied systematic calibration technique of the Laser gyro SINS based on dual-axis turntable. A calibration model of gyro and accelerometer was established with constraints a 30 dimensional Kalman filter calibration model was derived from SINS error equation. After a dual-axis position rotate route was designed, energized and identified the inertial instrument calibration parameters using speed and position as observation. Simulation results show that this method can accurately estimate 15 calibration error parameters for the gyro and accelerometer, has a certain reference value.