一种激光陀螺惯性测量单元混合标定方法

摘要

针对采用低精度转台标定高精度激光陀螺惯性测量单元(IMU)的方法进行了研究。提出一种不依赖转台精度的静态解析与 Kalman 滤波估计混合的新型高精度标定方法。首先采用多位置静态解析法粗标定出IMU系统参数的低精度初始值；然后根据惯性导航算法基本误差方程，建立以IMU系统参数粗标定结果的残差为估计对象，以IMU速度误差为观测量的扩展Kalman滤波器，估计出系统参数残差，进一步修正粗标定结果。实验结果表明，该方法能够利用低精度转台获得与高精度转台相当的参数标定精度，降低了惯导系统的标定成本，满足高精度激光陀螺IMU的使用需求。%To solve the problem in using low-accuracy turntable to calibrate the high-precision ring laser gyroscope inertial measurement unit, a new integrated calibration method is proposed. At first, a static analytical calibration method is applied to coarsely calibrate the initial values of IMU system parameters. Then, based on the error function of strapdown inertial navigation algorithm, an extended Kalman filter is established to refine the obtained coarse parameters. The experiment results show that, the proposed method is able to acquire high-precision calibrated results by using low-accuracy turntable, which decreases the calibration cost of IMU and satisfies the precision requirement of RLG IMU.