捷联惯导在线标定的时间延迟补偿方法影响分析

摘要

Due to the solver and propagation delay in MINS,and the solver in SINS can not be fully synchronized with the matching reference information,in some cases the time delay can be larger, and have a great influence on the calibration accuracy,using the SINS online calibration. Firstly this paper introduces a method to eliminate the time delay,and then focus on the simulation of the influence on the SINS online calibration accuracy by the synchronization error △t,the simulation results show that ignores △t will result in a individual parameters divergence slightly,therefore,in order to improve the calibration accuracy,consider the synchronization error △t in the calibration is necessary.%在捷联惯导在线标定过程中，由于主惯导的解算和传输延迟，子惯导解算信息与进行匹配的基准信息不能完全同步，有些情况下时间延迟较大，且对标定精度的影响很大。首先介绍了一种消除时间延迟的方法，而后重点仿真研究了该方法中同步误差△t对捷联惯导在线标定精度的影响，仿真结果表明忽略会△t导致个别参数轻微发散，故为了进一步提高标定精度，在标定过程中考虑同步误差△t是必要的。