A discrimination method for accelerometer static model parameter based on nonlinear iterative least squares estimation

摘要

The accelerometer is the one of the core inertial measurement components in inertial navigation system. The velocity and position of transporting species are obtained by carrying on one and two integrals respectively to the accelerometers outputs. So, the precision of navigation system is obviously affected by the static error of accelerometer. In this paper, the static mathematics model of accelerometer is built firstly and the static parameters are estimated with gravitational field static tumbling test method next. Consider that the initial installation error angle of accelerometer exists and can not be neglected in gravitational field static tumbling test method, we get a nonlinear static mathematics model of accelerometer including the installation error angle. To this nonlinear model, a nonlinear iterative least squares estimation is used to estimate the static parameters of accelerometer with the measurement data coming from gravitational field tumbling test method. Finally, a simulation experiment show that the accelerometer static parameters with this discrimination method can achieves high precision.