基于北斗差分定位的炮载惯导外场标定

针对炮载惯导设备在外场标定过程中依赖固定基准点的问题,提出了一种基于卫星差分定位的误差标定新方法。该方法将北斗天线的安装误差、惯性器件的失准角以及安装误差等角度误差统一归为非对准误差。首先利用北斗测姿技术提供姿态基准,粗标出上述误差;精标阶段采用卫星差分技术来提供高精度位置信息,完成误差角的精确标定。多组标定结果与传统工厂标定方法结果相差均在0.3mil以内,达到了较高的精度。该方法不仅回避了对固定基准点的依赖,而且避免了滤波带来的繁琐过程,即能保证长时导航的精度,又提高了标定的实时性。

Inertial navigation system’s field calibration based on Beidou-II differential positioning

In view that the calibration of inertial navigation system under field conditions needs fixed reference points, a novel calibration method is proposed based on satellite positioning differential. In this method, the antenna installation error, angular misalignment and installation errors and other inertial devices are classified as a unified installation error angle. Based on the dead reckoning error compensation, a positioning reference is provided based on Beidou attitude measurement technology to coarsely calibrate the system error. In fine calibration stage, a high-precision location information is provided by satellite differential technology to complete a calibration error angle. Multiple sets of calibration results show that their differences from traditional factory calibration results are within 0.3 mil, which achieve higher accuracy. This approach not only avoids reliance on the fixed reference point, but also prevents tedious processes in filtering the result, eliminating the known external information, which guarantee the accuracy of long navigation and improve the real-time calibration.