A Calibration Method of Performance Parameters of Laser Strapdown Inertial Navigation System
A technology for strapdown inertial navigation and parameter calibration, which is applied in the field of strapdown inertial navigation systems and can solve the problem of high requirements for sites and equipment
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[0087] The error model of inertia is as follows:
[0088] δa bx =α x +α xx a bx +α xy a by +α xz a bz
[0089] δa by =α y +α yx a bx +α yy a by +α yz a bz
[0090] δa bz =α z +α zx a bx +α zy a by +α zz a bz
[0091] δω bx =β x +β xx ω bx +β xy ω by +β xz ω bz +(β xyx a bx +β xyy a by +β xyz a bz )ω by +(β xzx a bx +β xzy a by +β xzz a bz )ω bz
[0092] δω by =β y +β yx ω bx +β yy ω by +β yz ω bz +(β yxx a bx +β yxy a by +β yxz a bz )ω bx +(1)(β yzx a bx +β yzy a by +β yzz a bz )ω bz
[0093] δω bz =β z +β zx ω bx +β zy ω by +β zz ω bz +(β zxx a bx +β zxy a by +β zxz a bz )ω bx +(β zyx a bx +β zyy a by +β zyz a bz )ω by
[0094] In formula (1): δa bi , Δω bi , (I=x,y,z)——the projection of the accelerometer and gyro error on-board system; α i : Accelerometer zero bias; α ii : Accelerometer scaling factor; α ij : Accelerometer installation error (i≠j); a bi : Projection of a specific force; β i : Gyro drift; β ii : Gyro scale factor; β ij :Gyro i...
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