| 分立标定中捷联惯导标定参数间的关联性影响 |
| Coupling Effects of SINS Calibration Parameters in Discrete Calibration |
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| 中文摘要: |
| 光学捷联惯导误差随时间积累，分立式标定作为一种误差补偿技术,是提高惯导精度的必要手段。惯导标定参数主要有标度因数、安装偏角、零偏三个,文章在阐述IMU标定原理的基础上，推导了标定过程中参数误差的传播途径，理论分析了标定参数之间的关联性影响，得到以下结果：零偏重复性误差对标度因数和安装偏角的标定无影响;标度因数非线性和重复性误差对安装偏角和零偏的标定无影响;零偏稳定性误差对标定因数和安装偏角的标定有影响;陀螺的角度随机游走对陀螺三个标定参数均有影响;加速度计的随机噪声对加速度计的三个标定参数均有影响; 陀螺的标度因数不对称性对陀螺的安装偏角和零偏的标定有影响;安装偏角重复性误差对陀螺的零偏标定有影响而对标度因数标度无影响，对加速度计的标度因数和零偏的标定无影响。结论对于惯导系统性能评估、误差分配和器件设备选型具有重要意义。 |
| 英文摘要: |
| Optical SINS error accumulate over time,as an error compensation technique,discrete calibration is a necessary means to improve navigation accuracy. SINS calibration parameters are mainly the scale factor、installation angle and bias, the article described IMU calibration principle, derived the transmission way of calibration parameters errors, theoretically analyzed the correlation effects of the calibration parameters, and get the following results: Bias repeatability errors have no effect on the scale factor and the installation angle calibration; Scale factor linearity and repeatability errors have no effect on the installation angle and bias calibration; Bias stability errors have effect on calibration of scale factor as well as installation angle ; Angle random walk has effect on the gyroscope three calibration parameters; Random noise has effect on the accelerometer three calibration parameters; Asymmetry of the calibration scale factor has effect on installation angle and bias of gyro;Installation angle repeatability errors have effect on bias and no effect on scale factor calibration of gyro ,and have no effect on scale factor or bias calibration of accelerometer.The conclusion is of great significance for INS performance evaluation, error allocation and device selection. |
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| 中文关键词: 分立式标定 建模 参数耦合 误差分析 |
| 英文关键词:discrete calibration parameters coupling error analysis |
| 基金项目: |
| DOI：10.11823/j.issn.1674-5795.2019.03.06 |
| 引用本文：赵雪米1，张蕾1，李四海2.分立标定中捷联惯导标定参数间的关联性影响[J].计测技术,2019,39(3):. |
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