doi:10.16186/j.cnki.1673-9787.2020030039

Received:2020/03/12

Revised:2020/05/25

Published:2021/03/15

Design of calibration method for matching of main and sub-inertial groupsbased on Kalman filtering

LI Weigang1, ZHANG Peng1, LI Mengwei1,2, WANG Shusen1

1.Nantong Institute of Intelligent Opto-mechatronics， North University of China ， Nantong  226000 ， Jiangsu， China;2.Science and Technology on Electronic Test & Measurement Laboratory， North University of China ， Taiyuan  030051 ， Shanxi， China

Abstract:Various error parameters of inertial devices will have uncertain drift with working time and affect navigation accuracy. The traditional discrete calibration method relies too much on the performance of the turntable and the test environment. The system-level calibration method has error parameters， slow convergence rate of filtering， long calibration time， and even filtering issues such as device divergence. It was proposed to connect a high-precision inertial group information source on a low-precision turntable， to use Kalman filtering to achieve the main and sub-inertial group matching calibration， and to study the construction of the Kalman filter and the sensor control method in the main and sub-inertial group matching calibration method. The results showed that when the velocity error and attitude error were used as the Kalman filter observation， the system state quantity could be well converged in a short time， and the IMU error parameter could be accurately estimated The comparison between the calibration compensation results of this method and the traditional discrete calibration compensation results of the low-precision turntable was carried out. The results proved that this method could significantly improve the calibration accuracy of the low-precision turntable， and the performance of the inertial group could be effectively restored after compensation.

Key words:main and sub-inertial group;error model;system-level calibration;Kalman filtering

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