实现惯测坐标系正交同步的系统级标定技术

文中研究目的有两个方面，一是在外场条件下实现低精度测试设备标定高精度捷联惯性导航装置；二是标定过程中实现惯性测量坐标系正交同步，进而提高捷联惯导动态导航精度。据此，文章在深入分析惯性测量坐标系空间相对关系的基础上，对惯性测量坐标系进行正交化，并通过建立正交化后惯性测量坐标系之间的失准角模型，从而完成基于惯性测量坐标系非正交角及失准角的系统级标定滤波器的构建以及系统级标定方案的设计，同时，针对外场测试设备限制文中制定了系统级标定抗扰动措施，并进行了试验验证。试验结果表明:该标定方法可以实现捷联惯导全参数系统级标定，提高系统动态环境下定位精度三倍以上。

Systemic calibration technology in view of the orthogonal synchronization of the inertial measurement frame

Two research goals had been accomplished in this paper. One was to realize the calibration of strapdown inertial navigation devices in higher precision on the test equipment with lower accuracy outside. The other was to implement the synchronization of the inertial measurement frame in the process of calibration, and to improve its dynamic navigation accuracy. Accordingly, through deeply analysis of the space relative position between the two inertial measurement frames, the orthogonalization of inertial measuring frame was realized, and its misalignment model was established. Thereby, the paper designed the systemic calibration filter, which was based on the crossing angle and the misalignment angle, and raised the systemic calibration scheme, in this paper formulated the disturbance resistance measures of systemic calibration and a test was carried out. The test results showed that this calibration method can systematically calibrate all parameters of a strapdown navigation system and improve its dynamic navigation accuracy more than three times.