重力传感器参数双轴旋转调制标定方法及实验验证

重力传感器参数的外场标定可充分发挥重力仪的测量潜力，提高重力测量的精度。利用全局可观性方法，对加速度计在静态条件下的参数可观性进行了分析，推导了静态多位置条件下加速度计参数可观的条件。根据理论推导的参数可观的条件，以双轴旋转重力仪为实验平台，设计了标定参数的编排方案。实验结果表明，该方法所测得的刻度因数对角线的最大偏差达到了10-8量级，利用对角线上的刻度因子修正了三轴转台的标定结果。2800s纯惯导解算结果证明，使用外场标定参数与实验室三轴转台标定参数的纯惯性导航精度相当。

Biaxial Rotation Modulation Calibration Method and Experiment Verification of Gravity Sensor Parameters

The external field calibration of the gravity sensor parameters can fully utilize the measurement potential of the gravimeter and improve the accuracy of gravity measurement. Using the global observability method, the observability of the accelerometer parameters under static conditions is analyzed, and the conditions of the accelerometer parameters under static multi-position conditions are derived. According to the theoretically deduced observability of the parameters, the biaxial rotating gravimeter is used as the experiment platform, and the programming scheme of calibration parameters is designed. The experiment results show that the maximum deviation of the scale factor measured by the method used in this paper reaches 10-8, and the calibration result of the three-axis turntable is corrected by the scale factor on the diagonal. The 2800s pure inertial navigation solution proves that the accuracy of inertial navigation using parameters of external field calibration is equivalent to it using the calibration parameters of the laboratory three-axis turret.