平台自标定技术综述

误差标定及补偿是提高惯性系统实用精度的重要手段，尤其是平台使用前一次通电过程中的自主标定，由于排除了多次通电不重复性误差，更显示出十分理想的补偿效果。另外，平台自主标定摆脱了地面设备及其操作过程，包括能实现自主对准，对载体的机动性有重大意义。对目前的自标定技术进行了总结，主要对自标定中的标定模型、标定位置选择和参数辨识方法进行了分析，分析了自标定技术的研究重点和难点，展望了自标定技术的研究前景，指出了一种新的自标定技术研究方向——连续自标定方法。

Inertial Platform Self-calibration Technology Overview

Error calibration and compensation are important methods for improving the accuracy of inertial system. For the inertial platform, the self-calibration before lunching, which avoids the non-repetitive error of repeated power, shows more ideal compensation effect. Additionally, the platform self-calibration gets rid of the ground equipments and can achieve self-alignment, which is significant for the carrier maneuver. In this paper, the self-calibration technology of inertial platform is summed up, especially for the error model, rotation scheme and parameter identification. The research prospects of self-calibration are proposed and a new self-calibration technology, continuous self-calibration, is pointed out.