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旋转捷联惯导系统可以有效调制惯性器件常值误差,使系统定位精度得到提高。但系统因内部的旋转运动使得惯性器件的输出需要转化,从而增加了器件综合误差解算的复杂性。文中分析了旋转惯导系统的特性,建立了一种新的惯性器件工具误差模型,对捷联惯导系统下的环境函数误差辨识方法提出了改进方案,对惯性器件工具误差进行辨识分离。同时,针对环境函数矩阵求解时样本少、解算精度不高的问题,提出了利用加权最小二乘法对多样本值进行权重匹配分析的方法,提高了器件误差的辨识精度。实验结果表明,零偏估计及分段分离补偿的方法能较好地补偿惯性器件特性误差,有效提高系统的定位精度。
Rotating strapdown inertial navigation system can effectively modulate the constant error of inertial device, so that the system positioning accuracy is improved. However, due to the internal rotation of the system, the output of the inertial device needs to be transformed, thereby increasing the complexity of device integrated error solution. In this paper, the characteristics of a rotating inertial navigation system are analyzed, and a new error model of the inertial device is established. An improved scheme is proposed to identify the error of the environmental function under the strapdown inertial navigation system. The error of the inertial device is identified and separated. At the same time, aiming at the problem of few samples and poor solution accuracy when solving the environmental function matrix, a weighted least squares method is proposed to perform weighted matching analysis on multiple sample values to improve the accuracy of device error identification. The experimental results show that the method of offset estimation and segment separation compensation can compensate the error of inertial device characteristics effectively and improve the positioning accuracy of the system effectively.