Liu Bingqi, Wei Shihui, Su Guohua, Wang Jiping, Lu Jiazhen
High-Tech Institute of Xi'an, Xi'an 710025, China.
The Science and Technology on Inertial Laboratory, School of Instrumentation Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China.
Sensors (Basel). 2018 Apr 24;18(5):1303. doi: 10.3390/s18051303.
The navigation accuracy of the inertial navigation system (INS) can be greatly improved when the inertial measurement unit (IMU) is effectively calibrated and compensated, such as gyro drifts and accelerometer biases. To reduce the requirement for turntable precision in the classical calibration method, a continuous dynamic self-calibration method based on a three-axis rotating frame for the hybrid inertial navigation system is presented. First, by selecting a suitable IMU frame, the error models of accelerometers and gyros are established. Then, by taking the navigation errors during rolling as the observations, the overall twenty-one error parameters of hybrid inertial navigation system (HINS) are identified based on the calculation of the intermediate parameter. The actual experiment verifies that the method can identify all error parameters of HINS and this method has equivalent accuracy to the classical calibration on a high-precision turntable. In addition, this method is rapid, simple and feasible.
当惯性测量单元（IMU）得到有效校准和补偿，如陀螺漂移和加速度计偏置时，惯性导航系统（INS）的导航精度可得到极大提高。为降低传统校准方法对转台精度的要求，提出了一种基于三轴旋转框架的混合惯性导航系统连续动态自校准方法。首先，通过选择合适的IMU框架，建立加速度计和陀螺的误差模型。然后，以滚动过程中的导航误差为观测量，基于中间参数的计算识别混合惯性导航系统（HINS）的总共二十一个误差参数。实际实验验证了该方法能够识别HINS的所有误差参数，且该方法在高精度转台上具有与传统校准等效的精度。此外，该方法快速、简单且可行。
