【6h】

Analysis and Calibration of the Nonorthogonal Angle in Dual-Axis Rotational INS

机译:双轴旋转INS中非正交角的分析与标定

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摘要

Navigation errors of inertial navigation system can be effectively restrained by rotating inertial measurement units (IMU), enhancing accuracy in long-endurance navigation. However, nonorthogonal angles between rotating axes are inevitable during manufacturing. Coupled into the navigation error, nonorthogonal angles can lead to navigation accuracy, especially attitude accuracy decline during rotation. Therefore, the calibration and compensation of nonorthogonal angles will enhance the systemic reliability. In this study, we first established nonorthogonal angles model, then estimated the effect on sensitive errors of IMU using the proposed model. Based on the relationship between nonorthogonal angles and IMU attitude, an improved calibration algorithm of estimating nonorthogonal angles is presented. The results of theoretical analysis demonstrated that this method can effectively calibrate nonorthogonal angles in a simple and fast way, which is desirable for practical requirements. Simulation and comparison analysis indicated that the calibration of nonorthogonal angles is effective and practical. Finally, the feasibility of calibration and compensation is also verified by the improvement of navigation accuracy in the experiment.
机译:旋转惯性测量单元(IMU)可以有效地抑制惯性导航系统的导航误差,从而提高了长途导航的准确性。然而,在制造过程中旋转轴之间的非正交角是不可避免的。加上导航误差,非正交角度会导致导航精度,尤其是旋转过程中的姿态精度下降。因此,非正交角的校准和补偿将增强系统可靠性。在这项研究中,我们首先建立了非正交角度模型,然后使用所提出的模型估计了对IMU敏感误差的影响。基于非正交角与IMU姿态之间的关系,提出了一种改进的估计非正交角的校准算法。理论分析结果表明,该方法可以简便,快速地对非正交角进行校正,是实际应用的理想方法。仿真和对比分析表明,非正交角标定是有效和实用的。最后,通过实验中导航精度的提高也验证了标定和补偿的可行性。

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