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为了提升位置和姿态测量系统(POS)的精度,结合POS工作过程中典型的匀速直线运动,提出了一种准实时的POS误差在线标定方法。首先设计了基于双捷联算法的在线标定方案,对系统误差方程进行简化处理,求出中时期导航条件下的系统误差状态转移阵。然后根据POS的两段相邻匀速直线运动导航误差,对系统误差参数进行在线标定,并通过可观测性分析得出POS运动与系统误差在线标定效果之间的对应关系。车载试验和飞行试验结果表明,在POS正常遥感作业过程中,本文提出的在线标定方法能够有效提升系统精度。
In order to improve the accuracy of position and attitude measurement system (POS), a real-time on-line POS error calibration method is proposed in combination with the typical uniform linear motion during POS operation. Firstly, an on-line calibration scheme based on double-strapdown algorithm is designed, and the system error equation is simplified, and the system error state transition matrix in mid-period navigation is obtained. Then, based on the navigation errors of two adjacent POS lines, the system error parameters are calibrated on-line, and the corresponding relationship between POS motion and the online calibration of system error is obtained through observability analysis. Vehicle test and flight test results show that the online calibration method proposed in this paper can effectively improve the system accuracy in the normal remote sensing operation of POS.