激光陀螺捷联惯导系统尺寸效应参数标定与优化补偿

提出一种捷联惯导系统尺寸效应标定补偿方法,先标定出捷联惯导系统中每个加速度计相对于三轴转台回转中心的杆臂参数,再基于尺寸效应误差最小原则,对载体坐标系原点位置进行优化,得出相应的尺寸效应参数。对于零偏稳定性优于2×10^-5g的加速度计,杆臂参数与尺寸效应参数标定重复性优于0.2mm。将载体坐标系原点置于三轴转台回转中心,以重力加速度g为基准验证标定补偿效果,转台匀速转动情况下,补偿后10min平均偏差小于2×10^-6g。根据激光陀螺角增量采样值求出角速度和角加速度,对惯导实验中的尺寸效应进行补偿,在转台角运动条件下纯惯性导航1h定位误差由尺寸效应补偿前的1600m减小到补偿后的300m以内。

Calibration and optimal compensation for size effect parameters of laser gyro SINS

An approach is derived to calibrate and compensate the size effect of SINS. At first, the level-arm parameters of the each accelerometer in a SINS relative to the rotation center of a three-axes turntable are calibrated. Then the size effect parameters relative to the optimal origin of the SINS body frame are obtained for minimizing size effect errors. The calibration repeatability of level-arm and size effect parameters is less than 0.2 mm for the accelerometer whose bias stability is better than 2×10~(-5)g. In order to validate the calibration and compensate the results using the gravitational acceleration, the rotation center of the three-axes turntable is selected as the origin of the body frame. It is showed that the average error in 10 min is less than 2×10~(-6)g after compensating when the turntable is rotating at a constant speed. The angular rate and the angular acceleration are computed from the angular increment samples of laser gyros and are used to compensate the size effect in the inertial navigation experiment. The position error of inertial navigation decreases to 300 m/h from 1600 m/h after size effect compensation under the condition that the turntable is in angular motion.