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针对长航时、高精度移动测量系统中加速度计组件标定周期长、参数重复性不好等问题,该文提出一种基于速度误差的加速度计组件闭环标定方法。通过推导加速度计标度因数误差和安装误差的标定误差与系统速度误差之间的关系,以惯性导航系统解算的速度误差作为观测量,设计加速度计组件闭环标定路径,不断对标度因数和安装误差进行修正,并根据加速度计器件精度和标定参数分辨率设定闭环标定结束阈值。标定及导航实验结果表明:加速度计组件闭环标定方法可以完成标度因数和安装误差等9个标定参数的计算,惯导系统定位精度提高20%以上。
Aiming at the problems of long calibration period and poor parameter repeatability of accelerometer components in long-haul mobile and high-accuracy mobile measurement system, this paper presents a closed loop calibration method for accelerometer components based on velocity error. By deducing the relationship between calibration error of accelerometer scaling error and installation error and system velocity error and using the velocity error solved by inertial navigation system as observation volume, the closed-loop calibration path of accelerometer component is designed, Installation error correction, and according to the accelerometer device accuracy and calibration parameters set the closed-loop calibration of the end of the threshold. The results of calibration and navigation experiments show that the closed-loop calibration method of accelerometer can complete the calculation of 9 calibration parameters such as scale factor and installation error, and improve the positioning accuracy of INS more than 20%.