基于双轴速率转台的IMU440惯性测量单元快速标定方法与实验

在捷联惯导系统中,惯性器件的确定性误差是系统误差的主要原因之一。为了提高惯导系统的输出精度,必须对这一误差加以补偿。以美国Crossbow公司开发的IMU440惯性测量单元为对象进行了快速标定实验,建立了陀螺仪和加速度计的误差模型方程,提出了用于辨识陀螺仪和加速度计误差模型参数的速率和位置标定法,根据两种标定方法得到了IMU440惯性测量单元的误差模型,最后对误差模型进行了校验。实验结果表明,误差补偿后的惯性器件输出值可以很好地接近理想输出值,大大降低了捷联惯导系统的输出误差。

The fast calibration experiment of IMU440 inertial measurement unit which is based on biaxial rate turntable

In the strapdown inertial navigation systems, determination error of inertial device is one of the main cause of system error. In order to improve the output precision of inertial navigation system, it is necessary to compensate for this error. In this paper, a fast calibration experiment is carried out on the IMU440 inertial measurement unit developed by Crossbow Corporation, established the error model equation of the gyroscope and accelerometer , proposed the rate and position calibration method for identifying the error model parameters of gyroscope and accelerometer. According to two kinds of calibration methods obtain the IMU440 error model of inertial measurement unit, and finally to check error model, the results of experiment show that after the error compensation, the output value of the inertial device can be close to the ideal output value, the output error of the strapdown inertial navigation system is greatly reduced.