基于ADIS16375的误差补偿在姿态解算中的研究

在捷联惯性导航系统姿态解算的过程中,陀螺仪器件自身测量精度起到了重要作用。在ADIS16375元器件进行了工厂级校准和提供可选择滤波器库的基础上,针对影响姿态解算精度的最主要的两类误差:固定零偏和随机噪声,建立一种简单实用的特性模型。分别对固定零偏进行校正和采用小波滤波对陀螺仪误差进行补偿。试验结果表明陀螺仪误差补偿在静止状态零偏稳定性和角度漂移抑制方面有显著提高,而运动过程中在对角度漂移抑制的同时也提高了姿态解算精度。

Research on Error Compensation in Attitude Calculating Based on ADIS16375

In the attitude calculating process of strapdown inertial navigation system,the measuring accuracy of gyroscope device itself plays an important role. Based on the factory calibration and providing optional filter bank of ADIS16375 isensor,a simple and practical characteristic model has been established,aiming at two kinds of error which have main influence of attitude calculating accuracy:fixed zero bias and random noise. The fixed zero bias has been calibrated and wavelet filter has been used to compensate the gyro random error. Test results show that it is significant to improve the gyro error compensation to zero bias stability and angle drift suppression in the quiescent state. It can also inhibit angle drift,then improve the attitude algorithm accuracy at the same time in the movement process.