基于最大似然估计法的加速度计误差参数标定方法

为降低捷联惯导系统误差参数标定过程对高精度转台的要求，提出一种基于最大似然估计的模观测标定方法。在考虑噪声影响的情况下建立加速度计的误差参数模型，运用最大似然估计法对误差参数进行标定计算，并将标定结果的精度与所考虑参数模型的克拉美限相比较。结果表明，与传统标定方法相比，该方法标定精度相当，降低了对标定转台的要求，减少了标定时间，有较高的工程应用价值。

Calibration Method of Accelerometer Error Parameters Based on the Maximum Likelihood Estimation Method

In order to reduce the demand of precise turntable in the calibration of error parameters in strapdown inertial nav- igation system, a norm-observed IMU calibration method based on the maximum likelihood estimation was proposed. The error parameters model of accelerometer was established and the parameters were calibrated by the maximum likelihood es- timation method in the case of considering the effects of noise. Then the accuracy of the proposed calibration method was compared with the Cramer-Rao bound for the considered calibration problem. At last, the simulation results indicated that, compared with the traditional calibration method, the accuracy of this method was equivalent to that with precise turntable, and the proposed method reduced the demand of precise turntable and calibration time, was more suitable for practical ap- plication.