Study of dynamic calibration method for SINS’s error parameters

LI Dong-liang; WANG Xue-mei; WANG Tao

doi:10.13873/j.1000-97872011.05.011

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Study of dynamic calibration method for SINS’s error parameters

更新时间：2025-09-11

- Study of dynamic calibration method for SINS’s error parameters
- Vol. 30, Issue 5, Pages: 79-82+85(2011)
- 作者机构：
  
  第二炮兵工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872011.05.011
  CLC： V249.322
- Published：2011
- 稿件说明：
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[1]李东亮,王雪梅,王涛.捷联惯导系统误差系数动态标定方法探究[J].传感器与微系统,2011,30(05):79-82+85.

LI Dong-liang, WANG Xue-mei, WANG Tao. Study of dynamic calibration method for SINS’s error parameters[J]. 2011, 30(5): 79-82+85.
[1]李东亮,王雪梅,王涛.捷联惯导系统误差系数动态标定方法探究[J].传感器与微系统,2011,30(05):79-82+85. DOI： 10.13873/j.1000-97872011.05.011.

LI Dong-liang, WANG Xue-mei, WANG Tao. Study of dynamic calibration method for SINS’s error parameters[J]. 2011, 30(5): 79-82+85. DOI： 10.13873/j.1000-97872011.05.011.

摘要

随着工作时间的推移

捷联惯性导航系统中的惯性器件测量精度会因为误差参数发生变化而降低

误差逐渐被积累

进而降低系统导航精度。针对此问题

提出了一种基于GPS速度、位置信息的捷联惯导系统惯性测量装置输出误差系数动态标定的方法。首先采用Sage-Husa自适应滤波实现组合导航状态最优估计

然后引入迭代最小二乘法

利用导航误差对系统惯性器件的误差系数进行标定。经计算机仿真验证

该方法可以实现在运动中对系统误差系数进行标定

进而提高捷联式惯性导航系统的导航精度。

Abstract

The error parameter of inertia instrument in inertia measurement device may change with working time

which cause the measurement precision is decreased and the error of SINS is accumulated.According to this

in order to improve navigation precision of SINS

a dynamical calibration method based on GPS’s velocity and position information for error parameters is put forward.Sage-husa adaptive Kalman filter is used to get the best navigation state

and then

this state is used to calibrate the error parameters of inertial measurement device.The simulation indicates that the error calibration can calibrate the error and improve the precision of the inertial navigation system.

关键词

Keywords

references

一种车载筒弹惯导装置不开箱标定方法 [J]. 吴平,雷虎民,邵雷,王飞. 中国惯性技术学报 . 2010(01)

SINS/GPS组合导航系统仿真研究 [J]. 韩璐,景占荣,段哲民. 计算机仿真 . 2009(09)

卡尔曼滤波器在导航系统初始对准中的应用 [J]. 胡宏灿,郭立,朱俊株. 微电子学与计算机 . 2006(02)

激光陀螺捷联系统安装误差的标定 [J]. 张树侠,闫威. 中国惯性技术学报 . 2000(01)

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