基于偏轴转位的捷联惯导系统快速标定方法

捷联惯导系统（SINS）中惯性测量单元（IMU）的转位方案设计对系统的快速标定具有重要影响。目前常见的转位方案是转轴与敏感轴重合，该方式每转动一次，仅有2个敏感轴位置发生变化。为更高效地激励误差，设计了一种IMU在转台上的偏轴安装方式，并基于这种方式提出一种新的转位方案。通过合理设计转轴与敏感轴之间的角度，使其在每次转位时有3个敏感轴位置同时发生变化，开拓了IMU新的转位空间，从而在标定陀螺组件的12个主要确定性误差时，可将传统转位方式下的最少6位置标定进一步缩减为偏轴转位下的4位置标定。通过理论分析与仿真实验表明，2种方案标定精度相同，但偏轴4位置标定方法的标定时间要比静态6位置标定方法减少33%，且标定结果的稳定性要好于静态6位置标定方法。

Fast calibration method of strapdown inertial navigation system based on partial axis transposition

The design of the transposition scheme of inertial measurement unit (IMU) has an important influence on the rapid calibration of strapdown inertial navigation system (SINS). In the traditional transposition scheme, both the rotating shaft and the sensitive axis are reclosed, and only two sensitive axis positions change for once per transposition. In order to stimulate the error more efficiently, a new partial axis installation method of IMU on the turntable is designed, and a new scheme of off-axis transposition is proposed. By properly designing an angle between the rotating shaft and the sensitive shaft, it makes three sensitive axis positions change at the same time, and opens up a new transposition space of IMU. Therefore, when calibrating the 12 main determinacy errors of gyroscope module, the minimum six-position calibration under traditional transposition mode can be further reduced to four-position calibration under off-axis transposition. Through theoretical analysis and simulation experiments, it is shown that the calibration accuracy of the two schemes is the same, but the calibration time of the four-position calibration scheme is 33% lower than that of the static six-position calibration scheme, and the stability of the calibration results is better than the static six-position calibration scheme.