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冯士伟, 林松, 李勇, 徐李佳, 李茂登. “天问一号”着陆惯导安装矩阵正交化方法研究[J]. 深空探测学报(中英文), 2023, 10(1): 72-79. DOI: 10.15982/j.issn.2096-9287.2023.20210155
引用本文: 冯士伟, 林松, 李勇, 徐李佳, 李茂登. “天问一号”着陆惯导安装矩阵正交化方法研究[J]. 深空探测学报(中英文), 2023, 10(1): 72-79. DOI: 10.15982/j.issn.2096-9287.2023.20210155
FENG Shiwei, LIN Song, LI Yong, XU Lijia, LI Maodeng. Research on Orthogonalization Method of Installation Matrix of Landing IMU for Tianwen-1[J]. Journal of Deep Space Exploration, 2023, 10(1): 72-79. DOI: 10.15982/j.issn.2096-9287.2023.20210155
Citation: FENG Shiwei, LIN Song, LI Yong, XU Lijia, LI Maodeng. Research on Orthogonalization Method of Installation Matrix of Landing IMU for Tianwen-1[J]. Journal of Deep Space Exploration, 2023, 10(1): 72-79. DOI: 10.15982/j.issn.2096-9287.2023.20210155

“天问一号”着陆惯导安装矩阵正交化方法研究

Research on Orthogonalization Method of Installation Matrix of Landing IMU for Tianwen-1

  • 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数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.

     

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