Research on Orthogonalization Method of Installation Matrix of Landing IMU for Tianwen-1
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摘要:“天问一号”的惯性测量单元(Inertial Measurement Unit,IMU)产品是其导航系统的核心敏感器,IMU中的陀螺和加速度计在安装过程中存在安装误差以及标度因非线性等因素导致安装矩阵非正交,从而影响IMU惯导精度。针对陀螺和加速度计安装矩阵误差特性进行分析,提出安装矩阵行向量正交化算法,提升了陀螺和加计安装矩阵正交性,降低了安装误差角在正交化过程中的畸变,开展了典型工况IMU惯导标定测试,试验结果表明:安装矩阵按行向量正交化处理后IMU惯导姿态精度提升15.8%~54.7%,位置精度提升45.2%~85.7%。采用上述方法,静态导航各工况位姿性能提升百分比较为一致且与试验时间不相关,动态导航各工况位姿性能提升百分比较为一致且与旋转角度累加和不相关。Abstract:The IMU of Tianwen-1 is the core product of its navigation system; during the installation of gyro and accelerometer in IMU installation deviation and nonlinear scale factor occur, leading to the non-orthogonality of installation matrix and affecting the accuracy of IMU inertial navigation. In this paper, the orthogonality of gyro and accelerometer installation matrix was analyzed, and the orthogonalization algorithm of installation matrix for row vector was proposed, which improves the orthogonality of gyro and accelerometer installation matrix and reduces the distortion of installation error angle in the process of orthogonalization. The calibration test of IMU inertial navigation under typical working conditions was carried out. The test results show that after the installation matrix was orthogonalized according to row vector, the attitude accuracy of IMU inertial navigation was improved by 15.8%~54.7%, and the position accuracy was improved by 45.2%~85.7%. Adopting the above method, the percentage of static position and attitude performance improvement under various working conditions is consistent and not related to the test time; the percentage of dynamic position and attitude performance improvement under various working conditions is consistent and not related to the cumulative sum of rotation angle.Highlights
● The installation matrix is orthogonalized according to row vector. ● Reduce the distortion of installation error angle in the process of orthogonalization. ● The attitude accuracy can be improved by 15.8%~54.7%. ● The position accuracy can be improved by 45.2%~85.7%. -
表 1安装矩阵不同正交化处理后典型工况IMU惯导标定测试结果对比
Table 1Table1 Comparison of IMU inertial navigation calibration test results under typical working conditions after different orthogonalization of installation matrix
序号 典型工况 旋转角度/
(°)非正交位姿误差/
〔(°),km〕矩阵正交位姿误差/
〔(°),km〕行向量正交位姿
误差/〔(°),km〕位姿性能提升值/
〔(°),km〕姿态与位置性能提升百分比/% 惯导仿真曲线 1 静态900 s — (0.019,6.059) (0.016,1.792) (0.016,0.864) (0.003,5.195) (15.8,85.7) 图3 2 静态4 400 s — (0.186,152.525) (0.157,48.053) (0.157,27.383) (0.029,125.142) (15.9,82.0) 图4 3 10 °/s转
25 min15 000 (5.613,29.997) (4.786,19.095) (2.542,15.771) (3.071,14.226) (54.7,47.4) 图5 4 30 °/s转500 s 15 000 (8.721,40.587) (7.892,29.408) (5.632,22.236) (3.089,18.351) (35.4,45.2) 图6 注:序号为3、4的动态工况,在转动停止后进行了转台回零操作,但全程数据均参与了导航解算。 -
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