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传统的多位置解析对准方法一般要求将捷联惯导系统(SINS)安装在一个伺服平台上并绕天向轴旋转90°或180°,这对工程带来不便,且伺服平台的精度会影响多位置解析对准的精度.针对这一问题,提出最简多位置解析对准方法,指出任意两位置是实现SINS多位置解析对准所需的最小条件,即通常理论上任意两位置可解算出惯性测量单元(IMU)的常值偏置,给出了计算方法,并通过仿真实例加以说明和验证,可以作为一种简易初始对准或现场标定方法.另外通过解析方法指出在特殊姿态下,某单一轴向的加速度计常值偏置或陀螺常值漂移可以直接被较好地估计出来,结论可用于进一步改进多位置对准方法.
Conventional multi-position alignment methods generally require SINS to be mounted on a servo platform and rotated 90 ° or 180 ° around the antenna axis, which causes inconvenience to the project and the accuracy of the servo platform Which will affect the precision of multi-location parsing alignment.In order to solve this problem, the paper proposes the simplest multi-location parsing and alignment method, pointing out that any two positions are the minimum conditions needed to achieve SINS multi-location parsing alignment, Solving for the constant bias of inertial measurement unit (IMU), the calculation method is given and illustrated and verified by the simulation example, which can be used as a simple initial alignment or field calibration method. In addition, Under a single axial accelerometer constant bias or gyro constant drift can be directly better estimated, the conclusion can be used to further improve the multi-position alignment method.