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A System-Level Self-Calibration Method for Installation Errors in A Dual-Axis Rotational Inertial Navigation System

机译:双轴旋转惯性导航系统中安装错误的系统级自校准方法

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摘要

In a dual-axis rotational inertial navigation system (RINS), there are two kinds of installation errors, nonorthogonal installation errors of inertial sensors, and installation errors between the inertial measurement unit (IMU) and rotation axes. Traditionally, these two errors are not considered simultaneously. Thus, they are calibrated separately by different estimation algorithms and rotation schemes. In this paper, a system-level self-calibration method for installation errors of a dual-axis RINS is proposed. Based on the Kalman filter, the measurement model is reestablished to ensure that all installation errors can be estimated together. First, the relationship between the initial attitude and subsequent attitude of IMU during rotation is used as a constraint to estimate nonorthogonal installation errors of accelerometers, and installation errors between the IMU and rotation axes. Then, the angular rate of the rotation mechanism is used as a reference to estimate nonorthogonal installation errors of the gyros. The rotation scheme of the IMU is designed to make all installation errors observable, and the observability of the system is analyzed based on the piecewise constant system method. Simulation and laboratory experiment results suggest that installation errors can be effectively estimated by the proposed method, thereby avoiding the complex separating process.
机译:在双轴旋转惯性导航系统(RINS)中,存在两种安装误差,即惯性传感器的非正交安装误差以及惯性测量单元(IMU)与旋转轴之间的安装误差。传统上,不会同时考虑这两个错误。因此,它们通过不同的估计算法和旋转方案分别进行校准。本文提出了一种双轴RINS安装误差的系统级自校正方法。基于卡尔曼滤波器,将重新建立测量模型,以确保可以一起估算所有安装误差。首先,IMU在旋转期间的初始姿态与后续姿态之间的关系被用作约束条件,以估计加速度计的非正交安装误差以及IMU与旋转轴之间的安装误差。然后,将旋转机构的角速度用作估计陀螺仪的非正交安装误差的参考。 IMU的旋转方案旨在使所有安装错误均可见,并且基于分段常数系统方法分析系统的可观察性。仿真和实验室实验结果表明,该方法可以有效地估计安装误差,从而避免了复杂的分离过程。

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