基于双轴旋转惯导的激光陀螺仪与g有关偏置自标定法

摘要

标定激光陀螺仪与g有关偏置可以进一步提高双轴旋转惯导的定位精度.在传统的六位置标定方法上增加四个倾斜的位置,形成一套十位置自标定算法.该算法不仅可以标定惯性器件的常值偏置,比例因数误差和失准角,还能标定陀螺仪的与g有关偏置.静态试验表明,在标定和补偿了陀螺仪与g有关偏置项后,经纬度误差(尤其是经度误差)随着时间的变化量明显减小.与传统的六位置法相比,经度误差随着时间发散速度明显降低.该自标定法在静态时至少可以提高50％的系统精度.%Improved position precision for a dual-axis rotational inertial navigation system is gotten after calibrating the gyro's g-dependent bias.By experiencing four more positions with tilt attitudes than conventional six-position method,not only constant biases,scale factor errors and misalignment errors,but also g-dependent biases can be calibrated.Static experiments show that latitude error and longitude error are remained within a small range over time.Compared with the traditional six-position method,the accuracy of longitude is improved about one time,and the divergence speed of longitude error becomes slow obviously.Using this self-calibration method,the accuracy of system is improved by more than 50％ in static state.