三轴加速度计GFSINS安装误差标定与补偿方法

针对由四个三轴加速度计构成的无陀螺捷联惯导系统加速度计的安装误差，根据空间矢量与坐标系关系，提出一种基于矢量模值不变性的位置误差标定方法和一种坐标系旋转变换矩阵的敏感方位误差标定方法，采用同一组转台试验数据先标定出位置误差再在位置误差标定基础上标定方位误差。同时，提出在误差补偿过程中，先补偿敏感方位误差再补偿位置误差的补偿方法，且给出了具体补偿算法。最后，通过仿真验证了标定和补偿方法的可行性。

Calibration and compensation method on installation errors of accelerometer in GFSINS constituted of 3-axis accelerometer

To process the installation error of accelerometers in gyroscope free strap down inertial navigation system (GFSINS) constituted with four 3 axis accelerometers, according to the relationship between space vectors and the coordinate, a position error calibration method which is based on the invariance of vector moduli and another calibration method for sensitive direction error which is based on coordinate rotation transform matrix are designed. And the position error is calibrated firstly and the sensitive direction error to follow with the same turntable experiment data. Contrarily, the sensitive direction error is compensated in front of the position error. The details of calibration and compensation algorithms are shown and also these two algorithms are proved to be feasible by a trajectory simulation.