Research On Error Parameter Identification Of Inertial Navigation Platform Under The Condition Of Vibration

Based on a specific inertial navigation platform structure, we gave a model to describe the drift error of inertial navigation platform. With the error model of inertial navigation elements, such as gyros or accelerometers, and inertial platform stability mechanisms, a systematic drift error model for inertial navigation platform was deduced.In the former researches, the identification of the drift error model for inertial navigation platform was only depending on the error coefficient of the zero order and first order in the gyro. The experiments were not able to deduce the error coefficients in higher orders. To identify the higher orders error coefficients in gyro, the system output sensitivity theory was introduced into the drift error model for inertial navigation platform, and according to the specialty of the drift error model for inertial navigation platform, the system output sensitivity was simplified.On a basis of it, obtain the system equations by considering the parameters as the state variables. So in this way, the problem of identification of the coefficients is converted into that of the estimation of the state. Since the system state equation and observation equation are both nonlinear, these two need to be linearized and discretized first. Afterward, the algorithm of the Extended Kalman filter is proffered.In the past the identification of INS platform drift error emphasis on coefficient zero-term and one-term drift error of gyroscope. the high-order term drift error of gyroscope couldn't be excited if the experiment location was selected improperly or only in a gravity acceleration.In order to identify these high -order term drift error coefficient, this paper adopted linearity vibration method and introduced the ideological of output sensitivity to INS platform drift Error Parameters Identification.The Simulation results showed that the scheme proposed in this paper was able to obtain better identification effect and feasible.