| Citation: | MIAO Jisong, SHAO Qiongling, REN Yuan, et al. Fast calibration method of strapdown inertial navigation system based on partial axis transposition[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(11): 2405-2415. doi: 10.13700/j.bh.1001-5965.2018.0045(in Chinese)
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The design of the transposition scheme of inertial measurement unit (IMU) has an important influence on the rapid calibration of strapdown inertial navigation system (SINS). In the traditional transposition scheme, both the rotating shaft and the sensitive axis are reclosed, and only two sensitive axis positions change for once per transposition. In order to stimulate the error more efficiently, a new partial axis installation method of IMU on the turntable is designed, and a new scheme of off-axis transposition is proposed. By properly designing an angle between the rotating shaft and the sensitive shaft, it makes three sensitive axis positions change at the same time, and opens up a new transposition space of IMU. Therefore, when calibrating the 12 main determinacy errors of gyroscope module, the minimum six-position calibration under traditional transposition mode can be further reduced to four-position calibration under off-axis transposition. Through theoretical analysis and simulation experiments, it is shown that the calibration accuracy of the two schemes is the same, but the calibration time of the four-position calibration scheme is 33% lower than that of the static six-position calibration scheme, and the stability of the calibration results is better than the static six-position calibration scheme.
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