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捷联惯导误差参数的时变性对导航精度的影响很大,需要进行在外场条件下的在线标定。其中匹配模式的选择对误差参数标定精度有较大影响。为了研究不同匹配模式对标定精度的影响,本文推导了“速度+姿态”、“速度+姿态+位置”以及“速度+位置”3种匹配方式下的在线标定模型。仿真比较了3种匹配方式下惯导12个误差参数(陀螺和加速度计的零偏及刻度系数误差)的标定精度以及收敛时间,并且对产生差异的原因进行了分析,为标定方案的优化提供依据。
Time-varying SINS error parameters have a great impact on the navigation accuracy and require online calibration in outfield conditions. The matching mode has great influence on the calibration accuracy of error parameters. In order to study the influence of different matching modes on the calibration accuracy, an on-line calibration model is derived in the three matching modes of “velocity + attitude”, “velocity + attitude + position” and “velocity + position”. The calibration accuracy and convergence time of the 12 inertial navigation parameters (gyro and accelerometer zero offset and scale factor error) under three kinds of matching methods are compared by simulation, and the causes of the differences are analyzed, which provides the optimization for the calibration scheme in accordance with.