激光陀螺捷联惯性测量单元系统级标定及对准技术研究

Calibration and initial alignment are the key technologies in the field of strapdown inertial navigation, which have a great influence on the navigation accuracy. In this paper, a laser gyro strapdown inertial navigation system with indexing mechanism is used to study the system-level on-line calibration method and the initial alignment method on moving base. The system level calibration problems of transposition design, measurement equation establishment, observability analysis and Kalman filter design are solved. The compass alignment algorithm based on the combining of the forward and backward navigation algorithm is proposed, which can improve the alignment accuracy while reducing the alignment time. The initial alignment algorithm on moving base for the SINS system is presented based on the inertial frame, which is not affected by the large misalignment angle. Finally, the validity and practicability of the algorithm are verified by vehicle test.

标定和初始对准是捷联惯性导航研究领域的关键技术，对导航精度影响较大。本项目针对具有转位机构的激光陀螺捷联惯导系统，研究系统级在线标定方法和动基座条件下的初始对准方法。解决系统级标定技术中的转位方案设计、量测方程建立、可观测性分析及卡尔曼滤波器设计等问题。提出正、逆向导航算法相结合的罗经对准算法，旨在提高对准精度的同时缩短对准时间。给出一种以惯性系为参考的捷联惯导系统动基座初始对准算法，该方法不受大失准角的影响。最后通过车载试验验证算法的有效性和实用性。

本项目研究了激光陀螺捷联惯导系统动基座初始对准方法及系统级标定技术。针对载体速度与位置恒定条件下捷联惯导系统标定问题，建立了导航解算误差方程，揭示了捷联惯导系统中标度因数误差、零偏、失准角误差等在导航解算过程中的误差传播机理。针对基于卡尔曼滤波系统级标定方法，建立包含标定模型误差系数的状态方程和量测方程，提出了一种转位翻滚误差激励方法并设计了卡尔曼滤波器，提升了标定模型误差系数的估计精度和收敛速度。针对基于正逆向导航解算捷联罗经动基座对准问题，提出了全循环正逆向对准方法和半循环正逆向对准方法。针对动基座对准中快速性的问题，提出了基于姿态补偿的对准方法，设计了一次性姿态补偿和接续姿态更新两种补偿方法。通过跑车试验验证了初始对准方法及系统级标定方法的正确性和有效性。