作　　者： (潘建业）; (张春熹）; (刘春红）;

机构地区： 中国运载火箭技术研究院

出　　处： 《导航与控制》 2015年第6期65-69,共5页

摘　　要： 针对惯组长期贮存过程中陀螺和加速度计零偏漂移的问题,提出了一种利用激光多普勒测速仪辅助捷联惯导的在线标定方案。给出了包括激光多普勒测速仪安装误差角和惯组安装误差角的航位推算误差方程。基于航位推算误差方程建立了闭环卡尔曼滤波器,对惯组零偏误差、激光多普勒测速仪安装误差角和惯组方位安装误差角进行在线标定。仿真结果表明,加速后激光多普勒测速仪安装误差角和惯组方位安装误差角得到估计;方位角改变后惯组零偏误差也得到估计。该方法允许跑车前不用综合标定,直接装订前一次的安装角参数,缩短了准备时间。 Considering the gyroscope drifts and accelerometer biases may change in the IMU storage periods,an online calibration method aided by laser Doppler velocimeter(LDV) is proposed.Dead reckoning(DR) error model which includes LDV installation error and inertial measurement unit(IMU) installation error is given.Based on the error model,a closed-loop Kalman filter is designed to estimate IMU drifts,LDV installation error and IMU installation error.The simulation result shows that LDV installation error and IMU azimuth installation error can be estimated after vehicle acceleration,and IMU drifts can be estimated after vehicle turning.This method allows the system to evaluate the former parameter without be calibrated before the field test,and it saves the preparation time.

关 键 词： 捷联惯导 激光多普勒测速仪 卡尔曼滤波 在线标定