CN104297525A - Accelerometer calibration method for inertia measurement system on basis of rocket sled test - Google Patents

Abstract

The invention discloses an accelerometer calibration method for an inertia measurement system on the basis of a rocket sled test. According to the method, the relation between remote external measurement errors and an error coefficient is established by utilizing a position environment function, and the error coefficient of an accelerometer is calibrated. The method is suitable for separation and calibration of the error coefficient of the accelerometer under the condition that the carrier attitude is given, and is especially suitable for analysis of the results of the rocket sled test. In addition, the position values are used as external measurement value by the method, and the confidence coefficient of the calibrated error coefficient is improved.

Description

Based on the inertial measurement system accelerometer scaling method of Rocket sled test

Technical field

The present invention relates to a kind of accelerometer scaling method, particularly relate to a kind of inertial measurement system accelerometer error coefficient scaling method based on Rocket sled test, belong to technical field of data processing.

Background technology

Before strap down inertial navigation combinationally uses, need to demarcate some main error coefficients of accelerometer, such as scaling ratio, null value deviation, fix error angle etc.Usual demarcation is all use turntable or marble flat board to carry out, so be subject to the constraint of earth gravity field, namely accelerometer sensitive to the maximum acceleration of gravity being no more than testing location of acceleration.Effectively cannot calibrate the high-order error term of strap down inertial navigation combination accelerometer in this case, simultaneously because the existence of high-order error term, the low order error term calibrated has certain error.This error, when the carrier of inertial navigation does high acceleration motion, can cause larger measuring error, cause the reduction of navigation accuracy.In order to carry out high-precision inertial navigation computing, needing to be separated and to demarcate high-order error term, and the low order error that classic method calibrates is revised.

Need to the larger acceleration value of inertial measurement system input because demarcate high-order error term, and this all cannot meet in ordinary test situation, so do not have effective inertial measurement system high-order error coefficient scaling method at present.

In order to provide the acceleration demarcated needed for high-order error term, Rocket sled test method is selected to meet this condition.The distinguishing feature of Rocket sled test can can't harm to reclaim tested inertial measuring unit, for measuring, checking and proceeding test further.High-precision inertial measuring unit cost is high, can repeat multiclass testing experiment repeatedly by Rocket sled test, comprises environmental suitability test and accuracy testing, increase test sample amount, guarantee flight test once success, reduce flight test number of times, reduce experimentation cost, accelerate the lead time.The main path of checking inertial measuring unit dynamic property and error separate has Rocket sled test, live shell flight test, simulated flight test, centrifuge test, vibration test etc.Rocket sled test has the irreplaceable advantages such as can provide the dynamic perfromance under the most accurately flying condition and repeatedly use relative to other test approach, is the optimal path realizing the checking of inertial measuring unit dynamic property.

Common accelerometer error coefficient scaling method adopts the method for fixed world input acceleration to test, and cannot measure the actual motion acceleration of inertial measurement system in Rocket sled test, is merely able to measuring speed and position.Because the existence of external interference and measuring error, there is larger error in the measurement result of speed, cannot obtain the precise speed of inertial measurement system.Same employing environmental function carries out accelerometer error coefficient timing signal, and the error coefficient value selecting speed to obtain than preferred site as external pelivimetry is comparatively rough, cannot obtain enough high-precision calibration result.

Environment function matrix is the matrix of coefficients obtained after site error, velocity error and the attitude error with inertial navigation system carries out derived function to inertial navigation instrumental error coefficient.It represent the error of position that unit inertial navigation instrumental error coefficient causes, speed and attitude angle.Set up the funtcional relationship of distant heterodyne and inertial navigation system instrumental error coefficient by environment function matrix, namely distant heterodyne observation equation, is also environment function equation.Environment function matrix analytic approach is a kind of effective ways being separated inertial navigation system instrumental error system, makes that the calculated amount obtaining error model parameters is in this way little, speed is fast.When distant heterodyne is chosen for positional information, equation is location circumstances functional equation.

Summary of the invention

Technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, inertial measurement system accelerometer scaling method based on Rocket sled test is provided, not remarkable item is eliminated from error coefficient to be estimated, and remarkable item is estimated, use this method accurately to demarcate the error coefficient of accelerometer.

Technical solution of the present invention: a kind of Rocket sled test accelerometer error coefficient scaling method, step is as follows:

(1) in rocket sledge operational process, utilize GPS to carry out outer survey to rocket sledge skid body, obtain the actual displacement of each moment inertial measurement system relative to initial time;

(2) in rocket sledge operational process, the acceleration of inertial measurement system Real-time Collection self and angular velocity, and carry out navigation calculation according to the acceleration recorded and angular velocity, obtain each moment inertial measurement system is tied to rocket sledge orbital coordinate system posture changing matrix relative to the theoretical displacement of initial time and rocket sledge skid body coordinate; Described rocket sledge orbital coordinate system OX _ly _lz _linitial point be rocket sledge track starting point, OX _laxle points to rocket sledge skid body motion working direction, OZ _laxle upward perpendicular to track, OY _laxle is perpendicular to track in surface level, and three meets right hand rule; Rocket sledge skid body coordinate system OX _by _bz _binitial point be skid body center, OX _baxle points to direction of motion, OZ _baxle refers to sky, OY _baxle respectively with OX _b, OZ _baxle is vertical, and meets right hand rule;

(3) calculate the distant outer survey error of each moment inertial measurement system relative to the actual displacement of initial time and theoretical displacement according to each moment inertial measurement system; Wherein the distant outer survey error of Ti moment inertial measurement system is the actual displacement of this moment inertial measurement system relative to initial time and the difference of theoretical displacement, and i ∈ [1, n], n are the outer survey sampling number in Rocket sled test;

(4) acceleration of each moment inertial measurement system and rocket sledge skid body coordinate is utilized to be tied to the location circumstances function coefficients vector in each moment of posture changing matrix computations of rocket sledge orbital coordinate system;

(5) according to distant outer survey error and the location circumstances function coefficients vector of inertial measurement system accelerometer error coefficient to be calibrated and each moment inertial measurement system, set up location circumstances functional equation S=AX, wherein, S is position error vector, S=[Δ S ₁Δ S ₂Δ S _n] ^t, Δ S _ifor T _imoment and T _i-1the difference of moment distant outer survey error; X is the column vector of error coefficient composition to be calibrated; A is environment function matrix of coefficients, $A=\left[\begin{array}{c}{A^{\′}}_1\\ {A^{\′}}_2\\ .\\ .\\ .\\ {A^{\′}}_n\end{array}\right],$ A' _ifor according to error coefficient to be calibrated from A _iin choose respective items composition row vector, A _ifor T _ithe location circumstances function coefficients vector in moment;

(6) carry out significance test to the location circumstances functional equation of step (5), when this location circumstances functional equation is not remarkable, error coefficient to be calibrated is zero, demarcates and terminates; When this location circumstances functional equation is remarkable, uses least square method to estimate error coefficient to be calibrated, enter step (7);

(7) carry out significance test in step (6) through each error coefficient estimated, when all error coefficients to be calibrated are entirely remarkable, error coefficient estimated value is error coefficient value to be calibrated, demarcates and terminates; When all error coefficients to be calibrated complete significantly time, remove least significant error coefficient, carry out step (5), terminate until demarcate.

The implementation of described step (4) is:

Utilize the location circumstances function coefficients vector A in following formulae discovery moment _i:

$A_i={\left[\begin{array}{c}{\∫}_{T_{i-1}}^{T_i}{\∫}_0^t{R}_b^l\left(\mathrm{1,1}\right)\mathrm{dtdt}\\ {\∫}_{T_{i-1}}^{T_i}{\∫}_0^t{R}_b^l\left(\mathrm{1,1}\right)a_1\mathrm{dtdt}\\ {\∫}_{T_{i-1}}^{T_i}{\∫}_0^t{R}_b^l\left(\mathrm{1,1}\right)\mathrm{sign}\left(a_1\right)a_1\mathrm{dtdt}\\ {\∫}_{T_{i-1}}^{T_i}{\∫}_0^t{R}_b^l\left(\mathrm{1,1}\right)a_1^2\mathrm{dtdt}\\ {\∫}_{T_{i-1}}^{T_i}{\∫}_0^t{R}_b^l\left(\mathrm{1,1}\right)\mathrm{sign}\left(a_1\right)a_1^2\mathrm{dtdt}\\ {\∫}_{T_{i-1}}^{T_i}{\∫}_0^t{R}_b^l\left(\mathrm{1,1}\right)a_1^3\mathrm{dtdt}\\ {\∫}_{T_{i-1}}^{T_i}{\∫}_0^t{R}_b^l\left(\mathrm{1,1}\right)a_1{a}_2\mathrm{dtdt}\\ {\∫}_{T_{i-1}}^{T_i}{\∫}_0^t{R}_b^l\left(\mathrm{1,1}\right)a_1{a}_3\mathrm{dtdt}\end{array}\right]}^T$

Wherein, A _iin error coefficient that often row is corresponding be followed successively by: accelerometer null value deviation measuring error constant multiplier measuring error constant multiplier asymmetry relative error measuring error method for quadratic term error COEFFICIENT K ₂, strange quadratic term system errors δ K ' ₂, cubic term error coefficient K ₃, cross-couplings term coefficient K ₁₂and K ₁₃; for this moment rocket sledge skid body coordinate is tied to the posture changing matrix of rocket sledge orbital coordinate system; a ₁, a ₂, a ₃for the acceleration in three directions that this moment inertial measurement system measures, wherein a ₁for this moment inertial measurement system in rocket sledge skid body coordinate system along OX _baxial acceleration, a ₂, a ₃be respectively this moment inertial measurement system in rocket sledge skid body coordinate system along OY _baxle, OZ _baxial acceleration.

In described step (6) to the implementation that position environment function equation carries out significance test be:

(3.1) the conspicuousness numerical value F of following formulae discovery location circumstances functional equation is utilized ₀

$F_0=\frac{U/m}{P/(n-m-1)}$

Wherein, U=S ^ta Φ ^-1a ^ts, and Φ=A ^ta; P=S ^ts-U; M is the number of error coefficient to be estimated;

(3.2) by F ₀value and F _0.99(m, n-m-1) compares, and works as F ₀>=F _0.99time (m, n-m-1), location circumstances functional equation is remarkable; Work as F ₀<F _0.99time (m, n-m-1), location circumstances functional equation is not remarkable;

Wherein, F _0.99(m, n-m-1) is the F distribution function value of m and n-m-1 for level of significance is 0.01 obedience degree of freedom.

In described step (6), use least square method to the formula that error coefficient to be calibrated is estimated is:

X＝(A ^TA) ^-1A ^TS。

In described step (7) to the implementation that error coefficient carries out significance test be:

(5.1) the jth error coefficient X utilizing following formulae discovery to estimate _jconspicuousness numerical value F _j:

$F_j=\frac{X_j}{l^{j,j}P/(n-m-1)}$

Wherein, l ^j,jfor Φ ^-1jth row jth row value, Φ=A ^ta, P=S ^ts-U, U=S ^ta Φ ^-1a ^ts, m are the number of error coefficient to be estimated, j ∈ [1, m].

(5.2) by F _jvalue and F _0.99(1, n-m-1) compares, and works as F _j>=F _0.99time (1, n-m-1), error coefficient X _jsignificantly; Work as F _j<F _0.99time (1, n-m-1), error coefficient X _jnot remarkable;

Wherein, F _0.99(1, n-m-1) is the F distribution function value of 1 and n-m-1 for level of significance is 0.01 obedience degree of freedom.

Advantage of the present invention is as follows:

(1) in the outer examining system of Rocket sled test, position metric information has the highest precision, and therefore use location environment function has higher error coefficient estimated accuracy relative to speed environment function, improves the degree of confidence being separated error coefficient;

(2) difference of the distant outer survey error of use location of the present invention environment function, relative to the full dose linear model of former method, the coefficient that this method estimates has higher precision and credibility;

(3) the present invention has carried out significance test to error model and the error coefficient calibrated, error term test findings to appreciable impact can be determined, and the interference of insignificant error coefficient is progressively eliminated when coefficient is estimated, precision of estimation result is higher;

(4) the inventive method has not only calibrated the high-order error coefficient of inertial measurement system accelerometer, obtains the modified value of low order error simultaneously, for high-precision inertial navigation computing is laid a good foundation.

Accompanying drawing explanation

Fig. 1 is Rocket sled test accelerometer error coefficient scaling method process flow diagram;

Embodiment

The present invention proposes a kind of inertial measurement system accelerometer scaling method based on Rocket sled test, utilizes location circumstances function to set up the relation of distant outer survey error and error coefficient, and demarcates accelerometer error coefficient.The method is suitable for separation and the demarcation of known carrier attitude brief acceleration meter error coefficient, especially analyzes Rocket sled test result.In addition, the method use location value, as external pelivimetry, improves the degree of confidence of institute's calibrated error coefficient.As shown in Figure 1, step is as follows for the inventive method flow process:

(1) in rocket sledge operational process, utilize outer examining system (as GPS, radar system or shadow shield electro-optical system etc.) to carry out outer survey to rocket sledge skid body, obtain the actual displacement of each moment inertial measurement system relative to initial time;

(2) in rocket sledge operational process, the acceleration of inertial measurement system Real-time Collection self and angular velocity, and carry out navigation calculation according to the acceleration recorded and angular velocity and obtain each moment inertial measurement system to be tied to rocket sledge orbital coordinate system posture changing matrix relative to the theoretical displacement of initial time and rocket sledge skid body coordinate; Rocket sledge orbital coordinate system (OX _ly _lz _l), the initial point of this coordinate system is rocket sledge track starting point, OX _laxle points to rocket sledge skid body motion working direction, OZl axle upward perpendicular to track, OY _laxle is perpendicular to track in surface level, and three meets right-handed coordinate system; Rocket sledge skid body coordinate system (OX _by _bz _b) be connected with skid body, initial point is skid body center, OX _baxle points to direction of motion, OZ _baxle refers to sky, OY _baxle respectively with OX _b, OZ _baxle is vertical, and meets right hand rule;

Wherein give in patent " inertial measurement system is based on the localization method of rocket sledge orbital coordinate system " (application number 201410199158.6) and carry out navigation calculation according to the acceleration that records and angular velocity and obtain the method that each moment rocket sledge skid body coordinate is tied to the posture changing matrix of rocket sledge orbital coordinate system.

(3) calculate the distant outer survey error of each moment inertial measurement system relative to the actual displacement of initial time and theoretical displacement according to each moment inertial measurement system; Wherein T _ithe distant outer survey error of moment inertial measurement system is the actual displacement of this moment inertial measurement system relative to initial time and the difference of theoretical displacement, and i ∈ [1, n], n are the outer survey sampling number in Rocket sled test;

(4) acceleration of each moment inertial measurement system and rocket sledge skid body coordinate is utilized to be tied to the location circumstances function coefficients vector in each moment of posture changing matrix computations of rocket sledge orbital coordinate system;

Utilize the location circumstances function coefficients vector A in following formulae discovery moment _i:

$A_i={\left[\begin{array}{c}{\&Integral;}_{T_{i-1}}^{T_i}{\&Integral;}_0^t{R}_b^l\left(\mathrm{1,1}\right)\mathrm{dtdt}\\ {\&Integral;}_{T_{i-1}}^{T_i}{\&Integral;}_0^t{R}_b^l\left(\mathrm{1,1}\right)a_1\mathrm{dtdt}\\ {\&Integral;}_{T_{i-1}}^{T_i}{\&Integral;}_0^t{R}_b^l\left(\mathrm{1,1}\right)\mathrm{sign}\left(a_1\right)a_1\mathrm{dtdt}\\ {\&Integral;}_{T_{i-1}}^{T_i}{\&Integral;}_0^t{R}_b^l\left(\mathrm{1,1}\right)a_1^2\mathrm{dtdt}\\ {\&Integral;}_{T_{i-1}}^{T_i}{\&Integral;}_0^t{R}_b^l\left(\mathrm{1,1}\right)\mathrm{sign}\left(a_1\right)a_1^2\mathrm{dtdt}\\ {\&Integral;}_{T_{i-1}}^{T_i}{\&Integral;}_0^t{R}_b^l\left(\mathrm{1,1}\right)a_1^3\mathrm{dtdt}\\ {\&Integral;}_{T_{i-1}}^{T_i}{\&Integral;}_0^t{R}_b^l\left(\mathrm{1,1}\right)a_1{a}_2\mathrm{dtdt}\\ {\&Integral;}_{T_{i-1}}^{T_i}{\&Integral;}_0^t{R}_b^l\left(\mathrm{1,1}\right)a_1{a}_3\mathrm{dtdt}\end{array}\right]}^T$

Wherein, A _iin error coefficient that often row is corresponding be followed successively by: accelerometer null value deviation measuring error constant multiplier measuring error constant multiplier asymmetry relative error measuring error method for quadratic term error COEFFICIENT K ₂, strange quadratic term system errors δ K ' ₂, cubic term error coefficient K ₃, cross-couplings term coefficient K ₁₂and K ₁₃; for this moment rocket sledge skid body coordinate is tied to the posture changing matrix of orbital coordinate system; a ₁, a ₂, a ₃for the acceleration in three directions that this moment inertial measurement system measures, wherein a ₁for this moment inertial measurement system in rocket sledge skid body coordinate system along OX _baxial acceleration, a ₂, a ₃be respectively this moment inertial measurement system in rocket sledge skid body coordinate system along OY _baxle, OZ _baxial acceleration.

(5) according to distant outer survey error and the location circumstances function coefficients vector of inertial measurement system accelerometer error coefficient to be calibrated and each moment inertial measurement system, set up location circumstances functional equation S=AX, wherein, S is position error vector, S=[Δ S ₁Δ S ₂Δ S _n] ^t, Δ S _ifor T _imoment and T _i-1the difference of moment distant outer survey error; X is the column vector of error coefficient composition to be calibrated; A is environment function matrix of coefficients, $A=\left[\begin{array}{c}{A^{\&prime;}}_1\\ {A^{\&prime;}}_2\\ .\\ .\\ .\\ {A^{\&prime;}}_n\end{array}\right],$ A' _ifor according to error coefficient to be calibrated from A _iin choose respective items composition row vector, A _ifor T _ithe location circumstances function coefficients vector in moment;

(6) carry out significance test to the location circumstances functional equation of step (5), when this location circumstances functional equation is not remarkable, error coefficient to be calibrated is zero, demarcates and terminates; When this location circumstances functional equation is remarkable, uses least square method to estimate error coefficient to be calibrated, enter step (7);

The implementation of position environment function equation being carried out to significance test is:

A () utilizes the conspicuousness numerical value F of following formulae discovery location circumstances functional equation ₀

$F_0=\frac{U/m}{P/(n-m-1)}$

Wherein, U=S ^ta Φ ^-1a ^ts, and Φ=A ^ta; P=S ^ts-U; M is the number of error coefficient to be estimated;

B () is by F ₀value and F _0.99(m, n-m-1) compares, and works as F ₀>=F _0.99time (m, n-m-1), location circumstances functional equation is remarkable; Work as F ₀<F _0.99time (m, n-m-1), location circumstances functional equation is not remarkable;

Wherein, F _0.99(m, n-m-1) is the F distribution function value of m and n-m-1 for level of significance is 0.01 obedience degree of freedom.

Use least square method to the formula that error coefficient to be calibrated is estimated is:

X＝(A ^TA) ^-1A ^TS。

(7) carry out significance test in step (6) through each error coefficient estimated, when all error coefficients to be calibrated are entirely remarkable, error coefficient estimated value is error coefficient value to be calibrated, demarcates and terminates; When all error coefficients to be calibrated complete significantly time, remove least significant error coefficient, carry out step (5).

An a jth error coefficient X that () utilizes following formulae discovery to estimate _jconspicuousness numerical value F _j:

$F_j=\frac{X_j}{l^{j,j}P/(n-m-1)}$

Wherein, l ^j,jfor Φ ^-1jth row jth row value, Φ=A ^ta, P=S ^ts-U, U=S ^ta Φ ^-1a ^ts, m are the number of error coefficient to be estimated, j ∈ [1, m].

B () is by F _jvalue and F _0.99(1, n-m-1) compares, and works as F _j>=F _0.99time (1, n-m-1), error coefficient X _jsignificantly; Work as F _j<F _0.99time (1, n-m-1), error coefficient X _jnot remarkable;

Wherein, F _0.99(1, n-m-1) is the F distribution function value of 1 and n-m-1 for level of significance is 0.01 obedience degree of freedom.

Example: when after acquisition testing position unit discharging and inertial measurement system navigation data, first calculates each outer survey time point and the difference of the distant outer survey error of time point before, then utilizes navigation data to obtain the coefficient vector of location circumstances function.After determining that accelerometer needs the error coefficient demarcated, form location circumstances functional equation and also check equation conspicuousness, equation significantly time, accelerometer error coefficient to be calibrated is zero, completes coefficient and is separated, demarcate and terminate; Time not significantly, utilize least square method to carry out coefficient estimation and significance test is carried out to each coefficient, when have not significantly item time, remove least significantly item and reconstitute environment function equation, and again carry out above-mentioned steps, until all error coefficients to be calibrated are all remarkable, now, error coefficient value is calibration value.

The non-detailed description of the present invention is known to the skilled person technology.

Claims (5)

1., based on the inertial measurement system accelerometer scaling method of Rocket sled test, it is characterized in that comprising the steps:

(1) in rocket sledge operational process, utilize GPS to carry out outer survey to rocket sledge skid body, obtain the actual displacement of each moment inertial measurement system relative to initial time;

(2) in rocket sledge operational process, the acceleration of inertial measurement system Real-time Collection self and angular velocity, and carry out navigation calculation according to the acceleration recorded and angular velocity, obtain each moment inertial measurement system is tied to rocket sledge orbital coordinate system posture changing matrix relative to the theoretical displacement of initial time and rocket sledge skid body coordinate; Described rocket sledge orbital coordinate system OX _ly _lz _linitial point be rocket sledge track starting point, OX _laxle points to rocket sledge skid body motion working direction, OZ _laxle upward perpendicular to track, OY _laxle is perpendicular to track in surface level, and three meets right hand rule; Rocket sledge skid body coordinate system OX _by _bz _binitial point be skid body center, OX _baxle points to direction of motion, OZ _baxle refers to sky, OY _baxle respectively with OX _b, OZ _baxle is vertical, and meets right hand rule;

(3) calculate the distant outer survey error of each moment inertial measurement system relative to the actual displacement of initial time and theoretical displacement according to each moment inertial measurement system; Wherein T _ithe distant outer survey error of moment inertial measurement system is the actual displacement of this moment inertial measurement system relative to initial time and the difference of theoretical displacement, and i ∈ [1, n], n are the outer survey sampling number in Rocket sled test;

(4) acceleration of each moment inertial measurement system and rocket sledge skid body coordinate is utilized to be tied to the location circumstances function coefficients vector in each moment of posture changing matrix computations of rocket sledge orbital coordinate system;

(5) according to distant outer survey error and the location circumstances function coefficients vector of inertial measurement system accelerometer error coefficient to be calibrated and each moment inertial measurement system, set up location circumstances functional equation S=AX, wherein, S is position error vector, S=[Δ S ₁Δ S ₂Δ S _n] ^t, Δ S _ifor T _imoment and T _i-1the difference of moment distant outer survey error; X is the column vector of error coefficient composition to be calibrated; A is environment function matrix of coefficients, $A=\left[\begin{array}{c}{A^{\&prime;}}_1\\ {A^{\&prime;}}_2\\ .\\ .\\ .\\ {A^{\&prime;}}_n\end{array}\right],$ A ' _ifor according to error coefficient to be calibrated from A _iin choose respective items composition row vector, A _ifor T _ithe location circumstances function coefficients vector in moment;

(6) carry out significance test to the location circumstances functional equation of step (5), when this location circumstances functional equation is not remarkable, error coefficient to be calibrated is zero, demarcates and terminates; When this location circumstances functional equation is remarkable, uses least square method to estimate error coefficient to be calibrated, enter step (7);

(7) carry out significance test in step (6) through each error coefficient estimated, when all error coefficients to be calibrated are entirely remarkable, error coefficient estimated value is error coefficient value to be calibrated, demarcates and terminates; When all error coefficients to be calibrated complete significantly time, remove least significant error coefficient, carry out step (5), terminate until demarcate.

2. the inertial measurement system accelerometer scaling method based on Rocket sled test according to claim 1, is characterized in that: the implementation of described step (4) is:

Utilize the location circumstances function coefficients vector A in following formulae discovery moment _i:

$A_i={\left[\begin{array}{c}{\&Integral;}_{T_{i-1}}^{T_i}{\&Integral;}_0^t{R}_b^l\left(\mathrm{1,1}\right)\mathrm{dtdt}\\ {\&Integral;}_{t_{i-1}}^{t_i}{\&Integral;}_0^t{R}_b^l\left(\mathrm{1,1}\right)a_1\mathrm{dtdt}\\ {\&Integral;}_{T_{i-1}}^{T_i}{\&Integral;}_0^t{R}_b^l\left(\mathrm{1,1}\right)\mathrm{sign}\left(a_1\right)a_1\mathrm{dtdt}\\ {\&Integral;}_{T_{i-1}}^{T_i}{\&Integral;}_0^t{R}_b^l\left(\mathrm{1,1}\right)a_1^2\mathrm{dtdt}\\ {\&Integral;}_{T_{i-1}}^{T_i}{\&Integral;}_0^t{R}_b^l\left(\mathrm{1,1}\right)\mathrm{sign}\left(a_1\right)a_1^2\mathrm{dtdt}\\ {\&Integral;}_{T_{i-1}}^{T_i}{\&Integral;}_0^t{R}_b^l\left(\mathrm{1,1}\right)a_1^3\mathrm{dtdt}\\ {\&Integral;}_{T_{i-1}}^{T_i}{\&Integral;}_0^t{R}_b^l\left(\mathrm{1,1}\right)a_1{a}_2\mathrm{dtdt}\\ {\&Integral;}_{T_{i-1}}^{T_i}{\&Integral;}_0^t{R}_b^l\left(\mathrm{1,1}\right)a_1{a}_3\mathrm{dtdt}\end{array}\right]}^T$

Wherein, A _iin error coefficient that often row is corresponding be followed successively by: accelerometer null value deviation measuring error constant multiplier measuring error constant multiplier asymmetry relative error measuring error method for quadratic term error COEFFICIENT K ₂, strange quadratic term system errors δ K ' ₂, cubic term error coefficient K ₃, cross-couplings term coefficient K ₁₂and K ₁₃; for this moment rocket sledge skid body coordinate is tied to the posture changing matrix of rocket sledge orbital coordinate system; a ₁, a ₂, a ₃for the acceleration in three directions that this moment inertial measurement system measures, wherein a ₁for this moment inertial measurement system in rocket sledge skid body coordinate system along OX _baxial acceleration, a ₂, a ₃be respectively this moment inertial measurement system in rocket sledge skid body coordinate system along OY _baxle, OZ _baxial acceleration.

3. the inertial measurement system accelerometer scaling method based on Rocket sled test according to claim 1, is characterized in that: in described step (6) to the implementation that position environment function equation carries out significance test be:

(3.1) the conspicuousness numerical value F of following formulae discovery location circumstances functional equation is utilized ₀

$F_0=\frac{U/m}{P/(n-m-1)}$

Wherein, U=S ^ta Φ ^-1a ^ts, and Φ=A ^ta; P=S ^ts-U; M is the number of error coefficient to be estimated;

(3.2) by F ₀value and F _0.99(m, n-m-1) compares, and works as F ₀>=F _0.99time (m, n-m-1), location circumstances functional equation is remarkable; Work as F ₀<F _0.99time (m, n-m-1), location circumstances functional equation is not remarkable;

Wherein, F _0.99(m, n-m-1) is the F distribution function value of m and n-m-1 for level of significance is 0.01 obedience degree of freedom.

4. the inertial measurement system accelerometer scaling method based on Rocket sled test according to claim 1, is characterized in that: in described step (6), use least square method to the formula that error coefficient to be calibrated is estimated is:

X＝(A ^TA) ^-1A ^TS。

5. the inertial measurement system accelerometer scaling method based on Rocket sled test according to claim 1, is characterized in that: in described step (7) to the implementation that error coefficient carries out significance test be:

(5.1) the jth error coefficient X utilizing following formulae discovery to estimate _jconspicuousness numerical value F _j:

$F_j=\frac{X_j}{l^{j,j}P/(n-m-1)}$

Wherein, l ^j,jfor Φ ^-1jth row jth row value, Φ=A ^ta, P=S ^ts-U, U=S ^ta Φ ^-1a ^ts, m are the number of error coefficient to be estimated, j ∈ [1, m].

(5.2) by F _jvalue and F _0.99(1, n-m-1) compares, and works as F _j>=F _0.99time (1, n-m-1), error coefficient X _jsignificantly; Work as F _j<F _0.99time (1, n-m-1), error coefficient X _jnot remarkable;

Wherein, F _0.99(1, n-m-1) is the F distribution function value of 1 and n-m-1 for level of significance is 0.01 obedience degree of freedom.