| 捷联惯性系统初始对准中IMU安装误差及陀螺漂移的估计与补偿 |
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| 引用本文： | 程向红,黄华.捷联惯性系统初始对准中IMU安装误差及陀螺漂移的估计与补偿[J].中国惯性技术学报,2004,12(5):13-15,25. |
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| 作者姓名： | 程向红 黄华 |
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| 作者单位： | 东南大学仪器科学与工程系,南京,210096 |
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| 摘 要： | 为尽可能消除IMU安装误差和陀螺漂移对系统精度的影响，运用主从惯导传递对准技术，采用扩展状态滤波器和速度／姿态角组合匹配的方法，估计出IMU安装误差和陀螺漂移误差，并对系统进行补偿。仿真结果表明，补偿了安装误差和陀螺漂移后，捷联惯性系统的导航参数精度可提高1个数量级以上。
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| 关 键 词： | 捷联惯性系统 安装误差 陀螺漂移 初始对准 滤波器 补偿 导航参数 姿态角 IMU 传递对准 |
| 文章编号： | 1005-6734(2004)05-0013-03 |
Estimation and Compensation of IMU Misalignment and Gyros Drifts during SINS Initial Alignment |
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| CHENG Xiang-hong,HUANG Hua.Estimation and Compensation of IMU Misalignment and Gyros Drifts during SINS Initial Alignment[J].Journal of Chinese Inertial Technology,2004,12(5):13-15,25. |
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| Authors: | CHENG Xiang-hong HUANG Hua |
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| Abstract: | Inertial measuring unit(IMU) misalignment and gyros drift are the major error sources in solutions of the navigation equation of strapdown inertial navigation. The paper uses velocity and attitude matching to estimate the IMU misalignment and gyros drift. The misalignment errors and gyro drifts are compensated in navigation algorithm. The accuracy of compensation navigation algorithm can be improved one to two orders of magnitude as compared to that without compensation algorithms. |
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| Keywords: | SINS transfer alignment IMU misalignment gyros drift Compensation navigation |
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