1、分類號(hào)UDC780343密級(jí)：——編號(hào)：工學(xué)碩士學(xué)位論文捷聯(lián)慣導(dǎo)系統(tǒng)標(biāo)定技術(shù)研究碩士研究生：指導(dǎo)教師：學(xué)位級(jí)別：學(xué)科、專業(yè)：所在單位：論文提交日期：論文答辯日期：學(xué)位授予單位：黃蘋李緒友教授工學(xué)碩士導(dǎo)航、制導(dǎo)與控制自動(dòng)化學(xué)院2005年01月2005年02月哈爾濱工程大學(xué)墮壟堡三矍查蘭堡主莖垡絲莖AbstractThepaperisbasedontheresearchanddevelopmentoftheprojectnamed‘‘SIN

2、S(StrapdownInertialNavigationSystem)BasedonFOG(FiberOpticGyroscope)”ThestudymainlydealswiththecalibrationtesttechniquesofSINSInSINS，sincetheinertialsensorsaredirectmountedonthebodythesensorsenduretheanglemotion，andtheine

3、rtialsensors’errorofSINSismuchmorethantheerrorofplatformsystemErrorcompensationisanefficientwaytoenhancetheaccuracyofnavigationbuterrorcalibrationisthepreconditionoferrorcompensationBasedonthedifferentofthemeasurements，c

4、alibrationofSINSconsistsofseparatecalibrationandsystemgradecalibrationseparatecalibrationisclassicandincommonusenowSystemgradecalibrationdevelopmentfrom1980s，itrepresentstheimportantheadingofcalibrationtechnologyButtradi

5、tionalsystemgradecalibrationUSeSthevelocityerrorsastheKalmanfiltermeasurements，ithasthedisadvantagesasthelackofmeasurements，largeburdenofcalculation，etc，andSOitishardtobeusedinprojectCombiningtheengineeringpractice，thepa

6、perpresentsaSINS’onlinecombinedcalibrationmethodbasedonthehighaccuracymultifunctionalthreeaxisturntableAbovealIaccordingtotheFOGandquartzaccelerometeradoptedinnavigationsystem，thestaticerrormodelsofIMU(InertialMeasllreme

7、ntUnits)arebuiltup。ThenSINS’onlinecombinedealibrationmethodadoptstherecursiveleastsquaresmethodtodealwithtestdataTestprocessissimple，anditimprovestheautomationlevelofcalibrationTheavailabilityandapplicabilityofSINS’onlin