基于单轴速率转台的捷联惯测组合标定方法

针对传统的"位置+速率"捷联惯测组合(SIMU)标定方法标定时间长、对标定设备要求高,且需要北向基准等问题,提出了基于单轴速率转台的捷联惯测组合标定方法。该标定方法只用一台单轴速率转台。捷联惯测组合3个轴分别垂直向上及向下时转台匀速旋转一圈,通过对单轴速率转台的姿态角及捷联惯测组合测量模型进行适当的数学变换,分离出捷联惯测组合的误差系数。建立了标定模型,推导了误差系数的分离算法,编排了标定流程,给出了数据处理方法,通过试验验证了方法的有效性。该方法对标定设备要求低,无需北向基准,标定时间短,适合于中等精度捷联惯测组合的标定。

Calibration Method of Strap-down Inertial Measurement Unit Based on Single-axis Rate Turntable

The traditional calibration method of a strap-down inertial measurement unit (SIMU) is by “position and rate”. It takes a long time, needs aiming-north and high-grade calibration equipment. This article proposes a calibration method of the SIMU based on a single-axis rate turntable, which requires only one single-axis rate turntable. When the x, y and z axes of the SIMU are set vertical-up and vertical-down respectively, the rate turntable is rotated one round at a constant speed. The error coefficients of the SIMU are calculated by mathematical transformation on the attitude angles of the rate turntable and the measurement models of the SIMU. This article establishes the calibration models, deduces the separation algorithm of error coefficients, arranges the calibration flow and presents the data processing method. The effectiveness of this method is validated by a test. For the calibration method based on a single-axis rate turntable, its requirement for calibration equipment is low. In addition, it needs no aiming-north and the calibration time is short. Therefore, this method is suitable for the calibration of a SIMU of medium precision.