惯性/天文/卫星组合导航误差在线标定方法

On-line errors calibration method for INS/CNS/GNSS integrated navigation

摘要:

为提高惯性/天文/卫星 (INS/CNS/GNSS) 组合导航系统长期工作时的精度，推导了基于四元数误差描述的组合导航系统误差状态方程和量测方程，利用分段定常系统 (PWCS) 定理，分析了不同输入条件下系统状态变量的可观测性和可观测度.结合可观测性和可观测度分析结果, 提出了利用星敏感器及卫星导航系统提供的姿态、位置矢量在线标定陀螺仪、加速度计和星敏感器误差参数的方法.可观测性分析和仿真试验结果表明, 该方法可以精确在线估计出陀螺仪、加速度计、星敏感器的标度因数、零偏和安装误差，提高惯性/天文/卫星组合导航系统长期在轨工作的精度.

Abstract:

To improve the accuracy of the integrated navigation system INS (Inertial Navigation System)/CNS (Celestial Navigation System)/GNSS (Global Navigation Satellite Systems) integrated navigation system for long-time working, this paper establishes the integrated navigation system state equation and the observation equation based on quaternion errors, and analyzes the observability and observable degree of the system states by applying Piece-Wise Constant System (PWCS) theory for different input conditions. Based on the analysis of the observability and observable degree, using the measurement information of attitude and position vectors from star sensor and GNSS, this paper proposes a method of on-line calibration for the error parameters of gyros, accelerometers and star sensor. The observability analysis and simulation results show that this method can precisely estimate the scale factor, zero, and installation error of gyros, accelerators and star sensor. This method can improve the long-term working accuracy of INS/CNS/GNSS integrated navigation system and has an important engineering application value.