捷联惯导系统全状态量现场标定方法

doi:10.12305/j.issn.1001-506X.2023.08.27

摘要/Abstract

摘要：

捷联惯导系统的现场标定使用系统级标定方法, 由于可观测度较小的状态量不能用卡尔曼滤波辨识估计误差参数, 因此提出一种基于状态量正交基的可观测度计算方法, 并根据此方法设计出一种提高全状态量可观测度的转位方案。在转动过程中测量每个时刻静基座惯性导航的速度误差, 使用卡尔曼滤波器辨识出全状态量误差参数。经实验验证, 对比未设置转位方案的现场标定结果, 所提现场标定方法不仅能提高全状态量可观测度, 而且对系统级标定的结果也有提高, 具有较好的工程实用性。

关键词: 现场标定, 线性时变系统, 可观测度, 标定方案

Abstract:

The field calibration of strapdown inertial navigation system usually uses the system-level calibration method. Since the state variables which have small observability degrees cannot identify the estimation error parameters by Kalman filter, a calculation method which is observability degree based on the orthogonal basis of state quantity is proposed, and a transposition scheme to improve the observability of all state variables is designed according to this method. In the process of rotation, the velocity error of the static base inertial navigation is measured at each time, and the Kalman filter is used to identify the error parameters of all quantities of state. The experimental results show that compared with the field calibration results without transposition scheme, the field calibration method can not only improve the observability degrees of the all quantities of state, but also improve the results of system-level calibration, which has good engineering practicability.

Key words: field calibration, linear time-varying system, observability degree, calibration scheme

中图分类号:

U666.12

张睿, 奔粤阳, 刘利强, 王坤, 侯靓, 邱天. 捷联惯导系统全状态量现场标定方法[J]. 系统工程与电子技术, 2023, 45(8): 2521-2532.

Rui ZHANG, Yueyang BEN, Liqiang LIU, Kun WANG, Liang HOU, Tian QIU. Field calibration method of full state variables for strapdown inertial navigation system[J]. Systems Engineering and Electronics, 2023, 45(8): 2521-2532.

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状态量	转动一次	转动两次	转动三次
ε_x/(°/h)	1.671	284.711	1.650×10³
ε_y/(°/h)	0.091	13.639	304.403
ε_z/(°/h)	0.063	179.117	1.734×10³
Δ_x/μg	1.140×10^-5	0.006	0.529
Δ_y/μg	0.006	0.177	0.310
Δ_z/μg	0.008	0.032	0.539
K_gx/ppm	0.597	8.934	17.838
E_gyx/(″)	0.002	1.250	14.276
E_gzx/(″)	0.002	2.152	28.397
E_gxy/(″)	1.094×10^-4	82.451	156.938
K_gy/ppm	1.027×10^-6	0.963	1.147
E_gzy/(″)	2.758×10^-7	24.635	146.249
E_gxz/(″)	4.573×10^-4	0.019	92.586
E_gyz/(″)	2.825×10^-7	5.487×10^-4	111.916
K_gz/ppm	1.024×10^-6	0.011	60.843
K_ax/ppm	5.648×10^-8	1.691×10^-5	3.804
E_ayx/(″)	2.441×10^-6	0.027	3.002
E_azx/(″)	3.232×10^-6	1.072×10^-4	3.146
E_axy/(″)	0.002	0.356	5.071
K_ay/ppm	0.111	2.440	3.987
E_azy/(″)	2.455×10^-7	1.562	5.519
E_axz/(″)	0.001	0.359	5.125
E_ayz/(″)	2.455×10^-7	1.378	3.037
K_az/ppm	0.085	2.510	3.636
K_a2x/(μg/g²)	1.605×10^-11	4.146×10^-6	35.487
K_a2y/(μg/g²)	1.654	17.826	34.681
K_a2z/(μg/g²)	0.962	17.426	30.055

状态量	xyz	xzy	yxz
ε_x/(°/h)	1.650×10³	1.412×10³	293.278
ε_y/(°/h)	304.403	1.361×10³	1.649×10³
ε_z/(°/h)	1.734×10³	1.997×10³	1.724×10³
Δ_x/μg	0.529	0.501	0.312
Δ_y/μg	0.310	0.484	0.590
Δ_z/μg	0.539	0.504	0.595
K_gx/ppm	17.838	19.379	1.377
E_gyx/(″)	14.276	14.142	160.514
E_gzx/(″)	28.397	29.801	163.561
E_gxy/(″)	156.938	105.465	15.174
K_gy/ppm	1.147	98.902	17.920
E_gzy/(″)	146.249	99.910	30.960
E_gxz/(″)	92.586	55.976	114.867
E_gyz/(″)	111.916	69.792	99.790
K_gz/ppm	60.843	57.637	61.039
K_ax/ppm	3.804	4.416	3.996
E_ayx/(″)	3.002	4.944	5.594
E_azx/(″)	3.146	5.157	6.035
E_axy/(″)	5.071	4.772	3.014
K_ay/ppm	3.987	4.647	3.867
E_azy/(″)	5.519	5.379	3.152
E_axz/(″)	5.125	4.727	3.066
E_ayz/(″)	3.037	4.544	5.586
K_az/ppm	3.636	4.667	3.584
K_a2x/(μg/g²)	35.487	63.204	35.225
K_a2y/(μg/g²)	34.681	54.684	35.151
K_a2z/(μg/g²)	30.055	55.214	29.967

状态量	yzx	zxy	zyx
ε_x/(°/h)	1.503×10³	1.617×10³	1.209×10³
ε_y/(°/h)	1.433×10³	852.538	3.894×10³
ε_z/(°/h)	2.101×10³	926.849	680.545
Δx/μg	0.468	0.047	0.500
Δy/μg	0.466	0.483	0.039
Δz/μg	0.427	0.441	0.421
K_gx/ppm	112.513	16.739	1.146
E_gyx/(″)	111.234	10.034	195.471
E_gzx/(″)	98.915	13.540	83.377
E_gxy/(″)	14.389	194.768	25.275
K_gy/ppm	23.022	1.676	16.571
E_gzy/(″)	29.980	118.956	29.710
E_gxz/(″)	87.479	41.815	22.316
E_gyz/(″)	69.542	25.359	36.595
K_gz/ppm	45.749	0.054	0.041
K_ax/ppm	4.735	8.443×10^-5	3.658
E_ayx/(″)	4.963	0.030	1.129
E_azx/(″)	6.114	0.018	4.468
E_axy/(″)	4.971	1.023	0.058
K_ay/ppm	4.820	3.690	4.910×10^-5
E_azy/(″)	5.687	4.380	0.043
E_axz/(″)	5.330	1.021	4.859
E_ayz/(″)	4.961	4.795	2.391
K_az/ppm	245.849	3.466	3.455
K_a2x/(μg/g²)	36.784	1.086×10^-5	31.206
K_a2y/(μg/g²)	43.079	30.851	3.621×10^-5
K_a2z/(μg/g²)	41.161	27.884	27.278

转动次序	三轴指向	转动90°
1	东北天	+ox
2	东地北	+ox
3	东南地	+ox
4	东天南	－ox
5	东南地	－ox
6	东地北	－ox
7	东北天	+oy
8	天北西	+oz
9	南天西	+oz
10	地南西	+oz
11	北地西	－oz
12	地南西	－oz
13	南天西	－oz
14	天北西	+oy
15	西北地	+ox
16	西天北	+ox
17	西南天	+ox
18	西地南	－ox
19	西南天	－ox
20	西天北	－ox
21	西北地	－oy
22	天北西	－oy
23	东北天	停止

状态量	真实值
ε_x/(°/h)	0.25
ε_y/(°/h)	0.25
ε_z/(°/h)	0.25
Δ_x/μg	25
Δ_y/μg	25
Δ_z/μg	25
K_gx/ppm	20
E_gyx/(″)	-30
E_gzx/(″)	-50
E_gxy/(″)	-10
K_gy/ppm	20
E_gzy/(″)	-60
E_gxz/(″)	-20
E_gyz/(″)	-40
K_gz/ppm	20
K_ax/ppm	20
E_ayx/(″)	-10
E_azx/(″)	-20
E_axy/(″)	0
K_ay/ppm	20
E_azy/(″)	-30
E_axz/(″)	0
E_ayz/(″)	0
K_az/ppm	20
K_a2x/(μg/g²)	25
K_a2y/(μg/g²)	25
K_a2z/(μg/g²)	25