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提出了采用Kalman滤波对冗余陀螺的常值误差、标度因数误差和安装误差进行估计的实验室标定方法。采用小角度旋转向量法对安装误差进行建模,并设计了Kalman滤波器。在对滤波器的量测方程进行设计时,采用零空间扩增法来改善滤波器中各陀螺误差状态量的可观测性。通过仿真试验,表明该标定方法对所有误差状态量估计的平均相对误差均低于1%,从而证明了该方法的有效性。
A calibration method based on Kalman filter is proposed to estimate the constant error, scale factor error and installation error of the redundant gyroscope. The installation error was modeled by a small angle rotation vector method, and a Kalman filter was designed. When designing the measurement equation of the filter, the zero-space method is adopted to improve the observability of the error state quantities of each gyro in the filter. The simulation results show that the average relative error of the calibration method is less than 1% for all error state quantities, and the validity of the method is proved.