挠性捷联惯组的多位置对准技术

摘要

The error of inertial measurement unit (IMU) is the key factor affecting the accuracy of the impact point of navigation systems. Considering how to increase the accuracy of dynamically tuned gyroscope (DTG) gyros with known heading information, the multi-position alignment technique is used in the on-line IMU calibration. The determinant method is applied to the analysis of the observability of the gyro static drift errors. The usual theoretical analysis of two-position alignment technique is presented, as well as the limited equation of optimal three-position alignment. The results demonstrate that the optimal three-position alignment is able to make the gyro static drift errors of DTG completely observable. Besides, the influence of the system errors can be eliminated effectively.The error of inertial measurement unit (IMU) is the key factor affecting the accuracy of the impact point of navigation systems. Considering how to increase the accuracy of dynamically tuned gyroscope (DTG) gyros with known heading information, the multi-position alignment technique is used in the on-line IMU calibration. The determinant method is applied to the analysis of the observability of the gyro static drift errors. The usual theoretical analysis of two-position alignment technique is presented, as well as the limited equation of optimal three-position alignment. The results demonstrate that the optimal three-position alignment is able to make the gyro static drift errors of DTG completely observable. Besides, the influence of the system errors can be eliminated effectively.%弹用惯组的误差是影响系统落点导航精度的关键因素.针对如何利用已知的航向信息最大程度地提高弹用挠性陀螺的实际使用精度的问题,将多位置对准技术应用于惯组误差的在线标定,利用行列式法对陀螺静态漂移误差进行了可观性分析,给出常用两位置对准的理论分析及最优三位置的限定方程.仿真结果表明,最优三位置对准可以有效分离常值漂移和与比力一次项有关的漂移,实现挠性陀螺静态漂移误差状态变量全部可观测,最大程度地降低其对系统误差的影响.