加表斜坡零偏对惯导初对准的影响及补偿研究

发布时间：2018-01-08 04:03

本文关键词：加表斜坡零偏对惯导初对准的影响及补偿研究　出处：《压电与声光》2016年06期 　论文类型：期刊论文

【摘要】：研究发现当捷联惯导系统(SINS)进行卡尔曼滤波精对准或动基座对准时,惯性器件的斜坡性误差对其初始对准的精度有影响,特别是对于采用石英挠性加速度计的惯导系统在预热不充分期间进行初始对准很可能会出现较大误差。该文分析了惯性器件斜坡性误差对SINS初始对准的具体影响,指出要获得较高的方位初始对准精度除要求等效东向陀螺漂移小外,在对准期间还要保证等效北向加速度计零偏也足够稳定。通过试验对加速度计斜坡零偏进行了建模、补偿,试验结果表明补偿后方位对准精度有明显提高。
[Abstract]:It is found that the slope error of inertial devices has an effect on the accuracy of initial alignment when sins (sins) carries out Kalman filter precision alignment or moving pedestal alignment is on time. Especially for inertial navigation systems with quartz flexible accelerometers, the initial alignment of inertial systems with quartz flexible accelerometers during insufficient preheating is likely to lead to large errors. In this paper, the slope error of inertial devices for initial alignment of SINS is analyzed. Physical influence. It is pointed out that in order to obtain higher azimuth initial alignment accuracy, the equivalent eastward gyroscope drift is required to be small. The zero deviation of the equivalent north accelerometer is also stable enough during the alignment period. The slope bias of the accelerometer is modeled and compensated through experiments. The experimental results show that the azimuth alignment accuracy is obviously improved after the compensation.
【作者单位】：中国电子科技集团公司第二十六研究所;
【分类号】：TN96
【正文快照】： 0引言初始对准是捷联惯导系统(SINS)进行导航的前提,直接影响到系统的导航精度。初始对准的一项主要任务就是求出载体坐标系与导航坐标系的初始变换矩阵[1],从而算出初始姿态和方位角。初始对准的方法有静态直接计算姿态角法、卡尔曼滤波对准法、动基座对准法、SINS/GPS组合对

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