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捷联惯导系统最简多位置解析对准改进算法

捷联惯导系统最简多位置解析对准改进算法

Improved algorithm of the simplest multi-position analytic alignment for SINS

Improved algorithm of the simplest multi-position analytic alignment for SINS

doi:
10.13695/j.cnki.12-1222/o3.2016.03.004
摘要:
最简多位置解析对准作为测量IMU偏置的简单方法,降低了传统多位置解析对准的工程复杂度,摆脱了伺服平台的限制,但是最简多位置解析对准目前使用的是几何方法,几何方法计算复杂,精度受先验信息的影响。针对这一问题,提出了最简多位置对准解析算法,通过解析算法可得到IMU偏置的解析解。通常两位置即可求得IMU偏置,特殊情况需要三位置,某些特殊位置可以计算特定轴向的偏置。解析法计算简单,不受先验信息的影响,并通过实例仿真证实该算法的有效性,计算误差主要由一阶近似误差和测量噪声引起。
Abstract:
As a simple method for measuring IMU biases, the simplest multi-position analytic alignment reduces engineering complexity of traditional method and is free from the limitation of servo platform. However, the geometric method, which is used by the simplest multi-position analytic alignment, is complex for calculating and the accuracy of this method is affected by the prior information. To solve this problem, an analytic method is proposed and the analytic expressions of IMU biases are derived. The constant biases can be usually obtained through the information in two positions. Three positions are needed in particular cases. The constant bias of a certain axis can be well estimated when IMU stays in a particular attitude. The analytic method is easy to calculate and is unaffected by the prior information. Simulation results demonstrate that this method is effective and the calculation errors are mainly caused by the first-order approximation errors and the measurement noises.
作者 丁磊香 [1] 许厚泽 [2] 王勇 [2] 柴华 [2] 蔡小波 [1]
Author: DING Lei-xiang[1] XU Hou-ze[2] WANG Yong[2] CHAI Hua[2] CAI Xiao-bo[1]
作者单位
  1. 中国科学院测量与地球物理研究所大地测量学与地球动力学国家重点实验室,武汉 430077; 中国科学院大学,北京 100049
  2. 中国科学院测量与地球物理研究所大地测量学与地球动力学国家重点实验室,武汉,430077
期 刊: 中国惯性技术学报 ISTIC EI SCI PKU CSSCI
年,卷(期) 2016, 24(3)
分类号 P227.9
关键词: 捷联惯导系统 知识脉络 多位置对准 知识脉络 解析对准 知识脉络 常值偏置 知识脉络
Keywords: strapdown inertial navigation system multi-position alignment analytic alignment constant bias
机标分类号 V24 U66
基金项目 国家自然科学基金
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