高精度惯性平台连续自标定自对准技术

提出了一种新的惯导误差系数标定方法——连续自标定自对准方法。利用外部参考力矩驱动平台按照一定角速度旋转，在平台加矩角速度、地球自转角速度和重力加速度的影响下，惯导平台的加速度表输出包含陀螺误差系数、加速度表误差系数、平台对准误差以及陀螺和加速度表的安装误差等全部误差信息，并由此得到平台失准角动态方程与加速度表的输出方程。在设计的平台连续旋转轨迹下，使用迭代Kalman滤波获得了全部平台误差系数的精确估计。与传统的多位置翻滚标定方法相比，该方法标定时间短，标定精度高，系统误差参数估值具有良好的收敛性。

Continuous Calibration and Alignment Techniques for a High Precision Inertial Platform

This paper presents a new continuous self-calibration and alignment technology of inertial navigation platform. The outputs of accelerometers contain all of gyroscopes error coefficients, accelerometers coefficients, alignment coefficients of platform, gyro fix coefficients and accelerometers fix coefficients when the platform is rotated by exterior reference torque. The equations of alignment and accelerometers output are respectively regarded as dynamic equations and output equations of system. The accurate estimation of all error coefficients of platform is obtained using iterative Kahnan filter according to the designed rotation track of platform. The continuous self-calibration and alignment technique spends less time and has a higher precision and a better convergence than traditional calibration technology of inertial platform.