为提高车载捷联惯导系统标定效率,提出了一种基于卡尔曼滤波的陀螺漂移在线自标定方法,该方法利用北向陀螺漂移的完全可观测性,在近似水平条件下,通过卡尔曼滤波估计出两个不同位置的等效北向陀螺漂移,然后利用该估计值和解算出的方位角计算出陀螺漂移实际值,实现陀螺漂移的在线自标定。仿真结果表明,该方法简单可行,标定精度能够满足车辆导航要求。

In order to improve the calibration efficiency of vehicle strap-down inertial navigation system (SINS) , a gyro drift on-line self-calibration method is proposed by using Kalman filter. In the condition of the approximate level, this method uses completely observability of north gyro drift to acquire two different positions equivalent north gyro drift estimation value by Kalman filter. Therefore, the true value of gyro drift on-line self-calibration is obtained by two different positions estimation values of north gyro drift and calculated azimuth. A numerical example and its simulation result show that this method is feasible and its calibration precision is acceptable.