针对传统标定算法依赖转台精度的缺点,文中从导航速度误差与惯性仪表误差参数的基本方程出发,深入分析了导航速度误差各方向分量与光学惯导误差参数的关系,给出了标定位置选取的原则;并在光学惯导系统标定的理论基础上,详细推导了导航速度误差与机械惯导陀螺零偏的关系,结合机械惯导输出模型,深入分析了过载系数的辨识方法,统一了机械和光学惯导的系统标定算法。仿真结果表明,该方法辨识精度高,降低了对转台的定位精度的要求,提高了标定设备的使用性。

In view of the shortcoming of traditional systematic calibration method depending on precision of turn-table, based on the basic e-quation of navigation velocity error and inertial error parameter of instrument, the relationship between directional components of navigation velocity error and inertia error parameter of instrument was deeply analyzed, the principle of selecting calibration position was proposed; The relationship between navigation velocity error and mechanical SINS gyro bias parameter was derived, error parameters affecting acceleration of mechanical SINS were deeply analyzed through the output model of mechanical SINS, the systematic calibration methods of mechanical SINS and optical SINS were united. The simulation results show that this method has good identification precision, reduces the requirement for turn-table precision and improves usability of calibration equipment.