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The calibration for inner and outer lever-arm errors based on velocity differences of two RINSs

机译：基于两个卷液的速度差异的内外杠杆误差的校准

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摘要

Rotational inertial navigation system (RINS) can enhance navigation accuracy by gimbals rotation. In marine applications, two or more RINSs are usually employed in the same vessel to further improve the navigation performance through information fusion. However, fusion accuracy of linear motion information is influenced by the lever-arm effect errors caused by the inner lever-arm errors between the accelerometers and axes of rotation of RINS and the outer lever-arm errors between two RINSs, which should be accurately calibrated and compensated for high-precision applications. In this paper, the calibration method for inner and outer lever-arm errors of two RINSs is proposed. The method only utilizes the navigation information of two RINSs instead of external reference information to realize the calibration of the inner and outer lever-arm errors of two RINSs. The lever-arm models are deduced, and the asynchronous rotation schemes are designed by the characteristics of lever-arm errors of two RINSs. Then Kalman filter with velocity differences of two RINSs as measurements is constructed to estimate all inner and outer lever-arm errors. The method is adequately verified by simulations and experiments. Results indicate that the inner and outer lever-arm errors could be accurately calibrated and the standard deviations of calibration results are less than 1 mm. The oscillations of velocity differences of two RINSs could be obviously restrained and even disappear after the compensation of calibration results, which demonstrates the effectiveness of the proposed calibration method.
机译：旋转惯性导航系统（RINS）可以通过GIMBALS旋转增强导航精度。在海洋应用中，两个或更多个载荷通常用于通过信息融合进一步提高导航性能。然而，线性运动信息的融合精度受到由加速度计和卷绕旋转轴和卷绕旋转轴和两个冲洗轴之间的轴误差之间引起的杠杆臂效应误差的影响，这两个冲洗器之间应准确校准并补偿高精度应用。在本文中，提出了两个冲洗液的内部和外杠杆误差的校准方法。该方法仅利用两个冲洗器的导航信息而不是外部参考信息，以实现两个卷的内部和外杠杆误差的校准。推导出杠杆臂模型，并且异步旋转方案由两个卷的杠杆臂误差的特性设计。然后，Kalman滤波器具有两个冲洗速度的速度差异，以估计所有内部和外杠杆误差。通过模拟和实验充分验证该方法。结果表明，可以精确校准内外杆臂误差，校准结果的标准偏差小于1mm。在补偿校准结果后，可以显然限制速度差异的两个液化速度差异，甚至消失，这表明了所提出的校准方法的有效性。

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