一种双轴旋转惯性导航系统的重要参数快速自标定方法

为了提高双轴旋转惯导重要参数标定的快速性和精度，提出一种快速自标定方法。通过设置不同的标定路径可以在10 min内完成陀螺和加速度计的零偏以及标度因数误差的标定。该方法利用基于姿态误差观测的卡尔曼滤波完成陀螺零偏的估计。通过六位置翻滚并以速度误差作为观测量进行卡尔曼滤波，完成加速度计的零偏及标度因数误差的标定。使天向陀螺绕方位轴旋转4周，使水平陀螺绕水平轴转动4周，通过计算旋转前后的姿态误差完成陀螺标度因数误差的估计。仿真和试验结果表明，该方法可以实现双轴旋转惯导重要参数10 min内完成自标定，且具有较高的精度。

Fast self-calibration of key parameters based on dual-axis rotation inertial navigation system

To reduce the calibration time and improve calibration accuracy of dual-axis rotation inertial navigation system (DRINS), a fast self-calibration method of key parameters is proposed. The bias and scale factor error of gyro and accelerometer can be calibrated within 10 min by setting different calibration paths. The estimation of gyro bias can be obtained by using Kalman filter based on observation of attitude error. By a six-position calibration path, the calibraton of bias and scale factor error of accelerometer can be achieved with Kalman filter by observing velocity error. To make the upward gyro revolve 4 circles around azimuth axis and the other two gyros revolve 4 circles around pitch axis respectively can obtain the scale factor error of gyro by analyzing the attitude errors before and after revolving. The results of simulation and experiments indicate that the fast self-calibration of key parameters of the DRINS can be done within 10 min using the proposed method and is also of high accuracy.