一种基于逆向导航的双轴旋转惯导系统自标定方法

针对惯导系统高精度自标定的需求,提出了一种基于逆向导航的双轴旋转惯导系统自标定方法。通过转位运动对系统误差进行激励,利用Kalman滤波器进行误差估计,同时存储标定数据,待正向导航滤波结束后,利用逆向导航算法对存储数据二次利用,继续进行误差估计,直到所有状态量收敛到一定精度,实现了对数据的充分挖掘。仿真和试验结果表明,该方法可以实现对双轴旋转惯导系统的全参数自标定,提高了标定精度。

A Self-calibration Method of Dual-axis Rotating Inertial Navigation System Based on the Reverse Navigation

Aiming at the requirements of high precision self calibration for missile inertial navigation system, a self-calibration method of dual axis rotating inertial navigation system based on the reverse navigation is proposed. The errors of the inertial navigation system are motivated through transposition movements, and are estimated with the Kalman filter. The calibration data is stored at the mean time. To make full use of the calibration data, the data is reused by the reverse navigation algorithm after the forward navigation filtering, and the error estimation continues until all the state varables converge to a certain accuracy. The results of simulation and experiment show that the whole parameters calibration of the dual-axis rotating inertial navigation system can be realized with this method, and the calibration precision is improved.