当前位置: X-MOL 学术Gyroscopy Navig. › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
Calibration of the Thermal Model of an Inertial Measurement Unit with Three Angular Rate Sensors
Gyroscopy and Navigation Pub Date : 2020-05-13 , DOI: 10.1134/s2075108720010125
I. E. Tarygin

Abstract

The paper considers the techniques developed for calibration of an inertial measurement unit (IMU) containing three angular rate sensors (ARS). Calibration is performed on a two-axis calibration turntable with a thermal chamber. For instrumental errors of ARS measurements, a priori parametric model is introduced, which includes biases, scale factor errors, small angles of nonorthogonality of sensitivity axes, and coefficients of temperature dependence for all these measurement errors. The problem of determining parameters of the parametric model is reduced to the problem of optimal estimation of the linear dynamic system state vector. In this context, the measurement vector is the vector of a small rotation between the model orientation of the IMU (calculated from the ARS readings) and the model orientation of the turntable faceplate (calculated from the turntable measurements). The approach proposed for formalization of the calibration problem is a modification of the method for calibration of an IMU as a whole inseparable unit, using a single-axis turntable with the horizontal axis of rotation, previously developed in the Laboratory of Control and Navigation of Lomonosov Moscow State University. The calibration experiment consists in a sequence of horizontal rotations about each of the ARS sensitivity axes. The results of numerical simulation and covariance analysis are considered.


中文翻译:

用三个角速率传感器校准惯性测量单元的热模型

摘要

本文考虑了用于校准包含三个角速度传感器(ARS)的惯性测量单元(IMU)的技术。在带有热室的两轴校准转盘上执行校准。对于ARS测量的仪器误差,引入了先验参数模型,该模型包括偏差,比例因子误差,灵敏度轴的非正交小角度以及所有这些测量误差的温度相关系数。确定参数模型的参数的问题被简化为线性动态系统状态向量的最优估计的问题。在这种情况下,测量矢量是IMU的模型方向(根据ARS读数计算)与转盘面板的模型方向(根据转盘测量结果计算)之间小的旋转矢量。提出的用于校准问题形式化的方法是对惯用单元的整体不可分割单元的校准方法的修改,该方法使用具有水平旋转轴的单轴转盘,该方法先前是在罗蒙诺索夫控制与导航实验室开发的莫斯科国立大学。校准实验包括围绕每个ARS灵敏度轴的一系列水平旋转。考虑了数值模拟和协方差分析的结果。提出的用于校准问题形式化的方法是对惯用单元的整体不可分离单元的校准方法的修改,该方法使用具有水平旋转轴的单轴转盘,该方法先前是在罗蒙诺索夫控制与导航实验室开发的莫斯科国立大学。校准实验包括围绕每个ARS灵敏度轴的一系列水平旋转。考虑了数值模拟和协方差分析的结果。提出的用于校准问题形式化的方法是对惯用单元的整体不可分割单元的校准方法的修改,该方法使用具有水平旋转轴的单轴转盘,该方法先前是在罗蒙诺索夫控制与导航实验室开发的莫斯科国立大学。校准实验包括围绕每个ARS灵敏度轴的一系列水平旋转。考虑了数值模拟和协方差分析的结果。校准实验包括围绕每个ARS灵敏度轴的一系列水平旋转。考虑了数值模拟和协方差分析的结果。校准实验包括围绕每个ARS灵敏度轴的一系列水平旋转。考虑了数值模拟和协方差分析的结果。
更新日期:2020-05-13
down
wechat
bug