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为解决无人机长时间航行时,由于环境等因素的变化,导致陀螺漂移、标度因数误差和陀螺安装轴不正交误差的问题,借助天文导航系统(CNS:Celestial Navigation System)提供的高精度姿态信息,基于四元数误差建立陀螺在线标定误差模型,提出一种基于模型预测的捷联惯性导航系统(SINS:Strap Down Inertial Navigation System)/CNS组合陀螺在线标定混合滤波方法。仿真结果表明,该方法能够很好地适用于在线标定,不仅满足标定精度要求,而且降低了滤波的计算量,提高了滤波的数值稳定性。
In order to solve the problem of long-time voyage of the UAV due to the change of environment and other factors, the gyro drift, scale factor error and the misalignment error of the gyro mounting shaft are utilized. With the help of the Celestial Navigation System (CNS) Based on the quaternion error, a model of on-line calibration error of gyroscope is established, and a model-based SINS (Strap Down Inertial Navigation System) / CNS hybrid gyroscope online calibration hybrid filtering method is proposed. The simulation results show that this method can be applied to on-line calibration well, which not only meets the requirements of calibration accuracy, but also reduces the computational complexity and improves the numerical stability of the filter.