研究了陀螺仪在轨标定问题,提出了一种用星敏感器在轨标定陀螺仪的平方根滤波方法。用星敏感器的姿态输出对陀螺仪的误差系数进行估计,将星敏感器测出的姿态角解算的导航角速率引入到惯导系统的姿态更新,实现了姿态误差与速度误差和位置误差的解耦。根据系统的姿态误差方程,以陀螺仪的误差系数为状态参数,构造系统状态方程和量测方程,进行平方根滤波估计。推导了基于平方根滤波的标定算法。仿真结果表明,提出的在轨标定方法在适当的机动条件下,能够以较高的精度标定出陀螺仪的误差系数。

This paper studied the problem in the gyroscope on-orbit calibration. The method of the star sensor was presented in the gyroscope on-orbit calibration. Theattitude output was used to estimate the error coefficient of the gyroscope and the error coefficient was taken as the attitude parameter. According to the system error equation, the state equation and the measurement equation were structured for filter estimation. The calibration algorithm was derived according to the square-root filter. The simulation results indicate that under the appropriate maneuver conditions the presented on-orbit calibration is capable of calibrating the gyroscope error coefficient.