【作者】 翁浚； 严恭敏； 秦永元；

【Author】 WENG Jun;YAN Gong-min;QIN Yong-yuan;Department of Automatic Control,Northwestern Polytechnical University;

【机构】 西北工业大学自动化学院；

【摘要】 传统分立式标定对转台精度要求较高,不适合外场标定和低精度转台。系统级标定算法的标定精度则仅与系统本身惯性器件精度相关,能够克服分立式标定的不足。本文在常用IMU线性标定模型的基础上,考虑了加速度计的尺寸效应、时间不同步误差,完善了Kalman标定误差模型。试验证明了标定方法能够有效简化标定流程,提高IMU在动态环境下的导航精度。更多还原

【Abstract】 Traditional separate calibration has high requirement of precision of rotating platform,which is not fit for out-field and low-precision rotating platform circumstance.However,calibration precision of systematic calibration algorithm only related to sensors’ precision,that overcomes the shortcoming of separate calibration.The paper builds a calibration model on the base of traditional linear error model,considering the size-effect and asynchronism of time of accelerometers,which completes the error model of calibration.The tests show that the algorithm can effectively simplify the calibration process and improve the navigation precision under the dynamic environment.更多还原