基于速度误差的系统级标定方法

为降低捷联惯导系统误差参数标定过程对高精度转台的要求，提出一种基于速度误差的系统级标定方法。在惯性器件误差参数模型和捷联惯导系统误差方程的基础上，以惯导系统转动前后的导航速度误差为观测量，编排设计旋转方案，对加速度计和陀螺的误差参数进行拟合标定。仿真结果表明，与传统的分立式标定方法相比，在保证标定精度的同时，对高精度转台的要求更低，可应用于外场标定。

Systematic Calibration Method Based on Velocity Error

In order to reduce the demand of precise turntable in the calibration of error parameters in strapdown inertial nav-igation system, a systematic calibration method based on velocity error was proposed. Based on the model of inertial sen-sors and error equation of SINS, the velocity errors of inertial navigation system before and after rotation were used as ob-servational vectors. Then the rotation scheme was designed to calibrate the error parameters of inertial sensors. The simula-tion results showed that, compared with the traditional calibration method, systematic calibration method has lower de-mand of precise turntable which can be applied to the field calibration while maintaining the calibration accuracy.