Wang Pingping, Lu Baofeng, Yang Pengxiang, Chen Feng
365 Institute, Northwest Polytechnic University, Xian 710065, China.
No.203 Research Institute of China Ordnance Industries, Xian 710065, China.
Rev Sci Instrum. 2021 Jan 1;92(1):015001. doi: 10.1063/5.0023674.
A simple systematic calibration method based on acceleration and angular rate measurements is introduced for the fiber-optic gyro strapdown inertial navigation system in this paper. Meanwhile, a unified mathematical framework and an iterative calculation method are designed for the systematic calibration method. Using this method, one can estimate the fiber-optic gyro inertial measurement unit (FOG IMU) parameters both at a manufacturer's facility and in the field. In order to get all FOG IMU parameters, a procedure adopted based on this approach consists of two stages: First, FOG IMU raw data (accelerometer and gyro readouts) are accumulated in 19 specified FOG IMU positions. Second, the accumulated data are processed by special software to estimate all FOG IMU parameters. In addition, observability analysis of the method in 19 specified FOG IMU positions is done without the limitation of FOG IMU's initial orientation, and this analysis provides theoretical support for the application in a complex terrain. Moreover, the influence of gravity disturbance is analyzed for the first time. The analysis and experiment results show that the systematic calibration method provided by this work can meet the requirement of FOG IMU calibration.
本文针对光纤陀螺捷联惯性导航系统，介绍了一种基于加速度和角速率测量的简单系统校准方法。同时，为该系统校准方法设计了统一的数学框架和迭代计算方法。使用这种方法，可以在制造商的工厂和现场估计光纤陀螺惯性测量单元（FOG IMU）参数。为了获取所有FOG IMU参数，基于此方法采用的过程包括两个阶段：首先，在19个指定的FOG IMU位置累积FOG IMU原始数据（加速度计和陀螺读数）。其次，通过专用软件处理累积的数据以估计所有FOG IMU参数。此外，在19个指定的FOG IMU位置对该方法进行了可观测性分析，不受FOG IMU初始姿态的限制，该分析为在复杂地形中的应用提供了理论支持。此外，首次分析了重力干扰的影响。分析和实验结果表明，本文提供的系统校准方法能够满足FOG IMU校准的要求。
