On-line errors calibration method for INS/CNS/GNSS integrated navigation

ZONG Hua; QI Jianyu; XIONG Pan; WANG Bo; LIU Zhun; ZHOU Zhiqiang

doi:10.11918/j.issn.0367-6234.201509109

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On-line errors calibration method for INS/CNS/GNSS integrated navigation

更新时间：2026-10-23

- On-line errors calibration method for INS/CNS/GNSS integrated navigation
- Vol. 49, Issue 4, Pages: 2017-4(2017)
- 作者机构：
  
  1. 宇航智能控制技术国家级重点实验室(北京航天自动控制研究所),北京,100854
  2. School of Automation, Beijing Institute of Technology,Beijing,China,100081
  3. 哈尔滨工业大学航天学院,哈尔滨,150080
  4. 北京理工大学自动化学院,北京,100081
- 作者简介：
- 基金信息：
- DOI：10.11918/j.issn.0367-6234.201509109
  CLC： V249.3
- Published：2017
- 稿件说明：
移动端阅览
ZONG Hua, QI Jianyu, XIONG Pan, et al. On-line errors calibration method for INS/CNS/GNSS integrated navigation[J]. 2017, 49(4): 2017-4.
DOI：

ZONG Hua, QI Jianyu, XIONG Pan, et al. On-line errors calibration method for INS/CNS/GNSS integrated navigation[J]. 2017, 49(4): 2017-4. DOI： 10.11918/j.issn.0367-6234.201509109.

摘要

为提高惯性/天文/卫星 (INS/CNS/GNSS) 组合导航系统长期工作时的精度，推导了基于四元数误差描述的组合导航系统误差状态方程和量测方程，利用分段定常系统 (PWCS) 定理，分析了不同输入条件下系统状态变量的可观测性和可观测度.结合可观测性和可观测度分析结果

提出了利用星敏感器及卫星导航系统提供的姿态、位置矢量在线标定陀螺仪、加速度计和星敏感器误差参数的方法.可观测性分析和仿真试验结果表明

该方法可以精确在线估计出陀螺仪、加速度计、星敏感器的标度因数、零偏和安装误差，提高惯性/天文/卫星组合导航系统长期在轨工作的精度.

Abstract

To improve the accuracy of the integrated navigation system INS (Inertial Navigation System)/CNS (Celestial Navigation System)/GNSS (Global Navigation Satellite Systems) integrated navigation system for long-time working

this paper establishes the integrated navigation system state equation and the observation equation based on quaternion errors

and analyzes the observability and observable degree of the system states by applying Piece-Wise Constant System (PWCS) theory for different input conditions. Based on the analysis of the observability and observable degree

using the measurement information of attitude and position vectors from star sensor and GNSS

this paper proposes a method of on-line calibration for the error parameters of gyros

accelerometers and star sensor. The observability analysis and simulation results show that this method can precisely estimate the scale factor

zero

and installation error of gyros

accelerators and star sensor. This method can improve the long-term working accuracy of INS/CNS/GNSS integrated navigation system and has an important engineering application value.

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