Because of the deformation of shock absorbers, the dither RLGs imrtial measurement unit ( IMU) can not be c alilnated using a precise tuntable as attitude reference. This palper inimduces a new calibratim method RLGs, IMU, firstly, the RLGs were turned off and the IMU without absorbers was fastened on a pmeise turntabde to calibrate the error parmenters of accelerometers; then the shock absorbers were installed on IMU, peper designed a procedure for the ealibration of RIGs error parameters. Fttrther mores,aeeotding to the output error equation of the RLGs, a systematic calibration algorithm of the RLGs IMU was proposed based on a 21dimensional kalman filter using velocity errors as measurement vector. The simulation results indicate, that the novel calibration method can accurately identify RLGs scale,factor errors,drifts,misalignments,errors and accealerometers drifts. and the accuracy of this methodsatisfy the requirements of high precision. inertial navigation system.%由于减振器会产生形变,使得带减振器的机抖激光陀螺惯性测量单元(IMU)不能使用由精密转台提供姿态基准的标定方法进行标定.提出了一种带减振器的机抖激光陀螺IMU标定的新方法,该方法先将IMU固联在精密转台上,不启动陀螺,依靠转台提供姿态参考标定出加表各误差参数;在此基础上装上减振器,设计了IMU陀螺误差参数标定路径,根据陀螺误差输出方程,建立21维的Kalman滤波系统级标定算法,并利用导航解算的速度误差作为其观测量.仿真结果表明,该方法能有效地标定出带减振器的机抖激光陀螺IMU的陀螺标度因数、常值漂移、安装误差和加速度计常值漂移等误差参数,满足高精度惯导系统的标定需求.
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