惯导平台加速度计静态多位置模标定方法

为克服传统的惯性平台多位置自标定法的局限性，引入了一种新的标定加速度计误差参数的方法。该方法基于变换后的加速度计输出模型，以输入加速度计的当地重力矢量为观测。仿真实验表明，当平台无转位误差时，零次项标定精度量级达到，比例因子标定精度达到1ppm以内；该方法对平台转位误差不敏感，当平台转位误差白噪声标准差为0.1°，均值小于30°时，误差参数标定结果不受转位精度的影响，降低了对平台稳定回路的控制精度要求。仿真实验还验证了方位失准角对模观测标定结果无影响。

Accelerometer Multi-position Norm-observed Calibration Method of GINS on Fixed Base

To overcome the drawbacks of the traditional multi-position self-calibration of inertial platform, a new scheme of calibrating the parameters of the error model of accelerometer is proposed in this paper, which is based on some variation of the output-model of accelerometer and the observation of the norm of the local gravity vector. The simulation experiment shows that, when platform has no turntable error, the accuracy of constant factor reacheswhile the accuracy of proportion factor within 1ppm.The scheme is not sensitive to the turntable error of platform, when the standard deviation of turntable error is 0.1° and the mean of turntable error is less than 30°, the performance of spin has no influence on the calibration that weakens the requirements of control precision of the platform stabilization loop. The accuracy of azimuth is independent of calibration which has also been proved by the simulation experiment.