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提出一种快速标定捷联惯组常值零偏的六位置测试法.首先在传统解析式粗对准的基础上引入HMM/KF滤波器,利用HMM/KF滤波器滤除对准环境中的干扰噪声,实现捷联系统粗对准;然后分析利用粗对准的对准精度与惯性器件误差之间的关系,推导出求取捷联惯组常值零偏的数学表达式.对比实验分析结果表明,采用滤波技术的对准方法能够提高方位对准精度,而且能够快速有效地标定和补偿上一标定阶段残留的惯性器件常值零偏,改善导航性能.
A six-position test method for rapidly calibrating the common zero bias of SINS is proposed.Firstly, the HMM / KF filter is introduced on the basis of the traditional analytical coarse alignment, and the HMM / KF filter is used to filter out the Interference of noise to achieve the strapdown system coarse alignment; and then analyze the use of coarse alignment accuracy and inertial device error between the relationship derived deduction Staggered Homologous group of constant zero bias mathematical expressions. The results show that the alignment method using filtering technology can improve the azimuth alignment accuracy, and can quickly and effectively calibrate and compensate the residual zero offset of the inertial device in the last calibration stage to improve the navigation performance.