无陀螺系统构型安装误差标定及补偿方案分析

讨论了一种九加速度计构型安装误差的标定方法与补偿方法。根据九加速度计无陀螺惯性系统的安装方式,设计了一种能标定九个加速度计共45项构型安装误差的标定方法。针对九加速度计构型特点,给出了九加速度计导航误差的补偿方案,该方案能够用一个反馈系统表示。理论分析与仿真计算表明,在给出的标定方案中,方向安装误差标定精度较位置安装误差要高,而且转台角速度对位置安装误差的标定精度影响较大,对方向安装误差影响很小;补偿方案实现方便,能够补偿85%以上的导航误差。

Calibration and Compensation of the Configuration Installation Errors for a Gyro-free Navigation System with Nine Accelerometers

The paper discussed the calibration and compensation problem for installation errors of a gyro-free navigation system.A configuration style of a sort of nine accelerometers gyro-free inertial system was presented,and a purposeful calibration scheme was put forward which can obtain 45 installation errors for the system.Finally,a compensation scheme is designed for the nine accelerometers gyro-free navigation system,and the scheme can be described by a simple feedback system.The analysis and simulating result shows that the orientation calibration precision is higher than the location's,and the calibration angle velocity has a serious effect for location installation errors while a little effect for orientation installation errors.The compensation can be implemented easily and can compensate for 85 percentage of the navigation error.