提出一种弹载SINS/CNS组合导航系统在线标定方法。该方法将星敏感器安装偏角误差、陀螺漂移及加速度计零偏误差扩维为状态量,利用星敏感器与惯导系统姿态角之间的关系建立观测方程,采用卡尔曼滤波对安装误差及惯性器件误差进行估计和补偿。设计趋于一般运动状态的路径对上述方法进行仿真验证。仿真结果表明,该方法可以实现对星敏感器安装误差及惯性器件误差的估计,其中安装误差估计精度优于0.1′,陀螺漂移估计精度优于0.01°/h,加速度计零偏估计精度优于20µg。

An online calibration method of missile-borne SINS/CNS integrated navigation system was presented. This method augments the star sensor's installation angle error, gyro drift and accelerometer's bias error as quantity of state, the relationship between star sensor and attitude angle of inertial navigation system is used to establish observation equation, Kalman filter is used to estimate and compensate the installation error of CNS and the inertial instrument error. Motion path tending to general state was designed for simulation and validation of above methods. Simulation results show that this method can estimate the star sensor installation errors and inertial component error with the installation error estimation accuracy better than 0.1′, gyro drift estimation accuracy better than 0.01°/h, accelerometer bias estimation accuracy better than 20 µg.