一种捷联惯导系统加速度计时间延迟参数标定方法

针对光学陀螺捷联惯导系统(SINS)中石英挠性加速度计相对光学陀螺仪低频输出相位特性不一致引起的时延问题，研究了一种加速度计时间延迟参数标定方法。在滚转角运动环境下，对影响导航速度的初始对准误差、加速度计测量误差和陀螺仪测量误差进行了详细分析，建立了各个误差源与导航速度误差的关系式；结合50型激光捷联惯导系统的精度指标和滚转轴“指北”条件，对导航速度误差方程进行优化，实现时间延迟参数的标定和补偿。通过数学仿真校验了标定方案的可行性，作为后续深入研究的基础。

A Time Delay Parameter Calibration Method for Accelerometers in Strapdown Inertial Navigation System

A time-delay parameter calibration method for the accelerometers is researched to solve the time-delay problem which is caused by the phase-shift inconsistency between the optic-gyros and the accelerometers in the optic-SINS (strapdown inertial navigation system). Under the condition of the rolling angular motion, the sources for the navigation velocity errors, including the alignment errors, the accelerometer measurement errors, and the gyro measurement errors, are analyzed in detail, and the mathematical relationships between each error source and the velocity error are also developed.Under the requirements of the precision index and the north-pointing conditions for the rolling axe, the equations of the navigation velocity errors are optimized for achieving the calibration and compensation of the time-delay parameters. The simulation results validate the feasibility of the proposed calibration method, and the proposed approach also provides some guidance for future study.