针对陀螺和加速度计均倾斜安装的光学惯导,在系统标定理论误差分离的基础上,建立虚拟台体坐标系,通过惯导坐标系到台体坐标系的方向余弦阵转换和载体系下误差参数与台体系下的误差参数转换,实现斜置光学惯导参数的系统级标定。仿真结果表明,该算法能有效建立惯导坐标系到台体坐标系的误差转换模型,提高惯导误差参数辨识精度,降低对转台定位精度要求,在实际工程应用中具有重要的参考意义。

For optimal SINS that both gyroscope and accelerometer were skewed installation, based on the system calibration theory of error separation, building virtual platform coordinate frame, through cosine matrix (DCM) transformed from SINS frame to platform frame and error parameter transformed from Carrier frame to platform frame, the system calibration of skewed installation optimal SINS was realized. The simulation results show that the algorithm can effectively established the transformation from SINS frame to platform frame, achieved high identification accuracy of SINS error parameter and reduced the requirement for platform positioning accuracy. So this algorithm has important reference significance for actual engineering application.