激光陀螺捷联惯导的动基座标定

从实际工程应用和维护的角度出发,提出了一种针对舰船在系泊或锚泊条件下激光陀螺捷联惯导安装误差的在线标定方法.该方法依据捷联惯导系统误差方程的基本原理,将标度因数误差、安装误差角、陀螺加速度计常值漂移以及系统基本误差项作为状态变量,用外部提供的高精度经纬度作为观测量,运用Kalman滤波技术估计出激光陀螺和加速度计的常值...

In-Dynamic Calibration for Laser Gyro SINS

In view of engineering utility and maintenance,an in-lining calibration method in mooring or anchoraging for laser SINS with two-axis turntable is presented.It chooses the scale factor errors,setting errors and basic errors of INS as state variables,and position information as measuring base,so that it gets all error results utilizing Kalman filter.A perfect continuous two-axis turntable’s rotation route is proposed,increasing error’s observation,inspiring with all errors in little time. Analyzing and compareing with static state,the result of calibrartion in dynamic achieves 1 nmile/24 h.This dynamic in-lining calibration mothod is simple and handle,if only high precision geography latitude and longitude,we can automatize calibrating all errors,improve reliability and maintenance.