通过滚动六面体来对HRG SINS进行全面的错误建模和现场校准方法
Yuanxi Li1, Zhennan Wei1, Shunqing Ren1
1Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150080, China.
Sensors (Basel, Switzerland)
|December 31, 2025
概括
本研究引入了一种新的模型,通过计算六面体结构错误来校准Strapdown惯性导航系统 (SINS). 该方法提高了加速度计和半球共振器陀螺仪 (HRGs) 的校准精度,降低了成本.
科学领域:
- 惯性导航系统 惯性导航系统
- 传感器校准 传感器校准
- 机械工程 机械工程
背景情况:
- 在Strapdown惯性导航系统 (SINS) 的现场校准通常使用六面体,但结构错误经常被忽视.
- 这些错误,包括六面体平面平行和垂直度的公差,可能会影响校准准确度.
研究的目的:
- 为半球共振器陀螺镜 (HRGs) 开发一个六面体结构错误模型和一个全面的SINS校准错误模型.
- 通过考虑结构缺陷,提高SINS现场校准的准确性并降低成本.
主要方法:
- 一个六面体结构错误模型是通过定义外部表面的正常向量来开发的.
- 一个24位置的校准方案识别了加速度计的错误,一个48旋转方案识别了陀螺仪的错误.
- 可以同时识别结构错误,安装错位,尺度因子错误和偏差.
主要成果:
- 在三轴转盘上使用模拟的六面体结构错误进行实验验证.
- 与传统方法相比,加速计和HRG的校准精度显著提高.
- 对六面体结构的精度要求降低,从而降低了SINS现场校准成本.
结论:
- 拟议的方法有效地模拟和补偿SINS校准中的六面体结构错误.
- 这种方法提高了惯性导航系统的精度,同时使校准更经济.
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