电子测量与仪器学报

翁浚,刘健宁,邢俊红,陈学忠.变维数滤波器在捷联惯导系统级标定中的应用[J].电子测量与仪器学报,2021,35(5):31-37

变维数滤波器在捷联惯导系统级标定中的应用

Application of variable dimension filter in systematic calibration ofstrapdown inertial navigation systems

DOI：

英文关键词:systematic calibration strapdown inertial navigation system Kalman filter vehicular test

基金项目:国家青年科学基金（61803299，61805195）、陕西省自然科学基金（2019JM 095）项目资助

作者	单位
翁浚	1.西安理工大学机械与精密仪器工程学院精密仪器系
刘健宁	1.西安理工大学机械与精密仪器工程学院精密仪器系
邢俊红	1.西安理工大学机械与精密仪器工程学院精密仪器系
陈学忠	1.西安理工大学机械与精密仪器工程学院精密仪器系

Author	Institution
Weng Jun	Department of Precision Instruments, School of Mechanical and Instrumental Engineering, Xi’an University of Technology
Liu Jianning	Department of Precision Instruments, School of Mechanical and Instrumental Engineering, Xi’an University of Technology
Xing Junhong	Department of Precision Instruments, School of Mechanical and Instrumental Engineering, Xi’an University of Technology
Chen Xuezhong	Department of Precision Instruments, School of Mechanical and Instrumental Engineering, Xi’an University of Technology

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中文摘要:

系统级标定技术具有不依赖转台精度、对减振器形变不敏感等优点,现已广泛应用于中、高精度捷联惯导系统的自标定当中。系统级标定一般以导航模式下的速度误差或速度误差的微分作为量测量,结合卡尔曼滤波技术能够实现系统误差参数计算的自动化。基于速度量测的系统级标定算法,其陀螺仪零位的估计精度受限于标定过程中加速度计零位的稳定性。提出一种角速度量测的变维数卡尔曼滤波器实现方法,仅通过改变滤波参数的设置就能够实现对陀螺仪零位的准确估计,无需额外的陀螺仪零位测试试验。最后,多组重复标定试验标定,改进的标定方案其陀螺零位的估计精度要高于传统方法。跑车试验也证明了算法的有效性。

英文摘要:

Systematic calibration technology has the advantages of being independent of turntable accuracy and insensitive to shock absorber deformation, etc. It has been widely used in the self-calibration of middle and high precision strapdown inertial navigation systems. The systematic calibration usually takes the velocity error or the differential of the velocity error in navigation mode as measurement. Combined with Kalman filtering technology, the calculation process of system error parameters can be realized automatically. In the systematic calibration algorithm based on velocity measurement, the estimation accuracy of the bias of gyroscope is limited by the stability of bias of the accelerometer in the calibration process. A variable dimension Kalman filter for angular velocity measurement is presented in this paper. The accurate estimation of the bias of the gyroscope can be achieved only by changing the setting of the filter parameters, and no additional gyroscope bias test is required. At last, multiple repeated calibration experiments have been carried out, and the estimation accuracy of gyro bias in the improved scheme is higher than that in the traditional method. The land vehicular tests also prove the effectiveness of the algorithm.

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