›› 2014, Vol. 34 ›› Issue (1): 42-49.doi: 10.3780/j.issn.1000-758X.2014.01.006

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Dynamic Parameter Identification Research onthe Installation Errors and the Scale Factor Errors of the IMU

PENG Hui, XIONG Zhi, WANG Rong, LIU Jian-ye, WANG Jie   

  1. (Navigation Research Center,Nanjing University of Aeronautics & Astronautics,Nanjing 210016)
  • Received:2013-05-24 Revised:2013-08-05 Online:2014-02-25 Published:2014-02-25

Abstract: The high dynamic flight characteristic of space vehicles may lead to a significant variation of the installation errors and the scale factor errors of the inertial measurement unit (IMU).If the errors can′t be calibrated and compensated,it may reduce the navigation precision of the inertial navigation system (INS) seriously.A method to dynamically identify the parameter of the installation errors and the scale factor errors was proposed. An augmented error model of the IMU including the installation errors and the scale factor errors of the IMU was built. Based on the Kalman filter, the dynamic parameter identification of the installation errors and the scale factor errors was designed. The observability of the installation errors and the scale factor errors with different maneuvers was analyzed. The simulation results show that the proposed dynamic identification method can effectively calibrate the installation errors and the scale factor errors online. With the calibrated results, the IMU errors are compensated and the precision of the INS is improved significantly.

Key words: Inertial measurement unit, Installation errors, Scale factor errors, Error modeling, 〖JP〗Dynamic identification, Navigation