激光捷联惯导系统的外场动态标定方法

摘要

激光捷联惯导系统的误差参数随着时间的推移会发生变化,为了实现惯导系统长期稳定使用且不拆装系统,需要对外场动态条件下激光陀螺捷联惯导系统的系统级标定方法进行研究.首先根据线性时变系统的可现测性判据详细地分析了动态条件下捷联惯导系统的可观测性,从而给出了完全激励惯导系统12个误差参数(加速度计零偏、标度因数误差以及陀螺零偏、标度因数误差)的必要条件,进一步根据必要条件给出了一种能标定出12个误差参数的可行动态标定路径,并且验证了该路径下系统的完全可观测性.仿真结果表明,在该路径下激光惯组的12个误差参数都是可估计的,陀螺零偏的估计误差在设定值的3％以内,陀螺标度因数误差的估计误差在设定值的7％以内,加表零偏的估计误差在设定值的2％以内,加表标度因数误差的估计误差在设定值的3％以内.%The error parameters for laser gyro strapdown inertial navigation system (SINS) would change with the time. In order to realize its long-term stabilization and avoid mounting / demounting the system, it is necessary to find a suitable systematic calibration method for the SINS under outer field conditions. Based on the observability criterion of linear time-varying systems, the necessity conditions for the dynamic route which can calibrate all the 12 error parameters are proposed. A feasible dynamic calibration route is given which can calibrate all the 12 parameters of the system, and it is verified that the system is completely observable under this route. The simulation results show that, under this dynamic route, the estimated error for gyro bias is less than 3%, the estimated error for gyro scale factor error is less than 7%, the estimated error for accelerator bias is less than 2%, and the estimated error for accelerator scale factor error is less than 3%.