【摘要】 以斜置冗余捷联惯导系统(RSINS)为研究对象,提出了一种基于单轴速率转台的标定方法。首先从斜置RSINS的系统配置结构出发,推导了描述斜置RSINS安装失准角的线性化方程以及系统标定量测方程;结合单轴速率转台指出至少需要四个非平面位置才可标定惯性传感器零偏、标度因数及安装失准角,并详细给出加速度计四位置标定方法;考虑到仅以地球转速为观测量时陀螺仪标定参数可观测性较弱,单轴速率转台存在不可忽视的角位置误差及系统安装方位误差等原因,设计四位置静态和三位置转动标定方法以保证陀螺仪的标定精度。通过构建RSINS标定仿真平台验证该方法的有效性,并利用实验室搭建的六冗余样机进行了试验验证。其标定成本低、标定精度高、操作简便且不需要北向基准,具有较好的工程应用价值。更多还原

【Abstract】 A new calibration measure by single-axis turntable will be present for the skewed redundant strapdown inertial navigation system.At first,the linearized equation which describes the misalignment angular and the calibration measurement equation will be derived from the configuration of RSINS;combined the single-axis turntable,the four-position calibration method will be brought to obtain the biases,scale factors and misalignment angular of the inertial sensors and the four-position calibration method for accelerometers is introduced detailedly;considering the weak observability of all calibration parameters of gyroscopes with earth-rate as the observed quantity,the angle location error of the single-axis turntable and the fixing error of the system,design the four-position quiescence and three-position rotation method to calibrate the gyroscopes.The calibration simulation system based on the 6-redundancy RSINS with the configuration of dodecahedron was constructed to verify the algorithm above and the examination on the prototype was made to verify the algorithm.Results show that the novel calibration technique takes the advantage of low cost,precision,simplicity and it doesn’t need aiming-north which is of great importance for practical applications.更多还原