| 摘要: |
| 捷联惯导系统的部件直接固联在载体上,承受着载体工作过程中的恶劣环境,因此系统参数容易受到影响而变化,需要通过标定过程获得参数变化并进行补偿,从而修正捷联惯导系统精度。针对捷联惯导系统在线标定问题,阐述了国内外在线标定技术的发展,对在线标定问题中的重点技术如误差方程分析、可观测性分析和滤波技术进行了详细的介绍,最后,初步分析了捷联惯导系统在线标定技术的研究方向。 |
| 关键词: 捷联惯导系统 在线标定 误差激励 可观测性 Kalman滤波 |
| DOI： |
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| 基金项目:航空基金(20160884004);国防科技项目基金(F062102009) |
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| Review of On-Line Calibration Method of SINS |
| DAI Shao-wu,CHEN Qiang-qiang,NIE Zi-jian,DAI Hong-de |
| (Naval Aeronautical Enginering Institute,Yantai Shandong 264000,China) |
| Abstract: |
| As the SINS(Strapdown Inertial Navigation System) components are directly fixed on the carrier bearing the harsh environment of the carrier during the work,the system parameters can be easily affected,and the accuracy of SINS can be amended through calibration and compensaion. Aiming at the problem of online calibration of SINS,the development of online calibration technology at home and abroad is expounded. The key technologies of online calibration,such as error equation analysis,observability analysis and filtering technology,are introduced in detail. Finally,The research direction of on-line calibration of SINS is analyzed. |
| Key words: SINS On-line calibration Error exciting Observability Kalman filter |
