Research on Comprehensive Calibration Techniques for Single-axis Rotational Inertial Navigation System

摘要：

　　For long-time operation applications based on single-axis rotation inertial navigation system (SRINS),the estimation and compensation of gyroscopes constant drift along the rotational axis in comprehensive calibration is the most important problem.In this paper,a novel comprehensive calibration method for SRINS is presented.During this process,SRINS is operating in the outer level damping mode.Kalman filter has been designed based on the SRINS model with the damping network.The velocity and position provided by differential GPS (DGPS) are introduced as reference information for the estimation of rotational axis gyroscope drift.For stationary scenario,the observability degree of system states are given by an observability analysis based on singular value decomposition.The validity of this method is confirmed by simulations.The influence of linear accelerated motion on the estimation of drift is obtained.

关键词： SINS rotation modulation horizontal damping gyroscope drift

作者: CHENG Jianhua CHEN Daidai Rene Jr. Landry GUAN Dongxue WANG Xiuzhi

作者单位: College of Automation,Harbin Engineering University,Harbin 150001,China;Ecole de Technologie Superie College of Automation,Harbin Engineering University,Harbin 150001,China Ecole de Technologie Superieure,Université du Québec,Montréal H3C 1K3,Canada Tianjin Long March Launch Vehicle Manufacturing Co.,Ltd,Tianjin 300462,China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 550-555

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）