### 改进的格网惯导系统无阻尼综合校正方法

1. 哈尔滨工程大学 自动化学院, 哈尔滨 150001
• 收稿日期:2020-03-02 修回日期:2020-03-25 出版日期:2020-09-15 发布日期:2020-05-14
• 通讯作者: 方涛 E-mail:HEUfangtao@hrbeu.edu.cn
• 基金资助:
国家自然科学基金（61633008）

### Improved non-damping comprehensive calibration method for grid INS

HUANG Weiquan, FANG Tao, WANG Zongyi

1. College of Automation, Harbin Engineering University, Harbin 150001, China
• Received:2020-03-02 Revised:2020-03-25 Online:2020-09-15 Published:2020-05-14
• Supported by:
National Natural Science Foundation of China (61633008)

Abstract: The comprehensive calibration technique is an effective method for the suppression of grid Inertial Navigation System (INS) errors. The level attitude errors caused by accelerometer biases are the key factors influencing the estimation accuracy of gyroscope drifts in comprehensive calibration. Aiming at this problem, this paper proposes an improved non-damping comprehensive calibration method. First, the objective function in the grid frame is deduced to estimate the accelerometer biases and level horizontal attitudes. Next, the P equation and ψ equation in a non-damping state are introduced. Finally, a non-damping two-point calibration scheme is designed. Before the calibration, the accelerometer biases are estimated and compensated with the velocity given by the Doppler Velocity Log (DVL). The DVL aims to eliminate the negative effect of the level attitude errors caused by accelerometer biases on the estimation accuracy of the gyroscope drifts. With the assistance of two intermittent external positions and yaw, the gyroscope drifts are estimated by the designed calibration scheme. The involved level attitude errors in the calibration scheme are estimated with the DVL. Simulation results indicate that compared with the existing works, the proposed calibration scheme further reduces the time of DVL dependence. Meanwhile, the satisfying estimation and compensation of accelerometer biases lead to the improvement of the estimation accuracy of the gyroscope drift, exhibiting obvious advantage of this method in suppressing navigation errors.