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Closed-loop calibration method of micro-mechanical gyroscope inertial measuring component

A technology of inertial measurement components and micromechanical gyroscopes, which is applied in the calibration field of strapdown inertial navigation systems, and can solve problems such as inability to correct

Inactive Publication Date: 2008-08-20
HARBIN ENG UNIV
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Problems solved by technology

The parameters of the system error mathematical model are estimated values, which cannot be corrected by navigation errors, so there is a certain gap between the calibration results and the requirements of the high-precision strapdown inertial navigation system

Method used

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  • Closed-loop calibration method of micro-mechanical gyroscope inertial measuring component
  • Closed-loop calibration method of micro-mechanical gyroscope inertial measuring component
  • Closed-loop calibration method of micro-mechanical gyroscope inertial measuring component

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Embodiment Construction

[0078] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0079] Step 1. Place the micromechanical gyro measurement component on the turntable. The main shafts of the X, Y and Z axis gyroscopes of the gyro measurement component are respectively parallel to the rotation axes of the inner, middle and outer frames of the turntable. The strapdown inertial navigation system is warmed up, and then the data output by the gyroscope and accelerometer are collected. The warm-up time is set according to the specific system.

[0080] Step 2. Operate the turntable to adjust the strapdown inertial navigation system to the local geographic coordinate system, and then raise the Y axis to the north by an angle, which is equal to the latitude value Align the positive direction of the Y-axis with the positive and negative directions of the earth's rotation angular rate, and record the original output of the gyroscope N g + , N g - . ...

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Abstract

The invention provides a closed-loop calibration method of a micro-mechanic gyro inertia measuring component, which comprises the following steps: data output by a gyro and an accelerometer is collected; a scale factor of the Y axis is roughly measured; a matrix CKg-b is constructed by using the roughly determined scale factor and an installation error; the alignment of a micro-mechanic strapdown inertial navigation system is implemented according to a compass loop method, and a course angle that is output by system navigation parameters and control angular velocities on each axis of a geographical coordinate system are read after the compass alignment is finished, thus measuring constant drift of the gyro; when the system enters a navigation phase, the scale factor and the installation error angle of the gyro are precisely calibrated; the updated matrix CKg-b and the course angle are written into a navigation computer, and a next round of calibration is implemented, when the difference between the course angles that are obtained from two calibrations is less than a given constant 0.0001 degree, the calibration is finished. By using the calibration method provided by the invention, the system lies in a closed-loop feedback state and can implement the feedback calibration of the calibration error, thus improving calibration precision.

Description

(1) Technical field [0001] The invention relates to the technical field of calibration of a strapdown inertial navigation system, in particular to a closed-loop calibration technology of a micromechanical gyro measurement component. (2) Background technology [0002] Calibration technology is essentially an error compensation technology. The so-called error compensation technology is to establish the error mathematical model of the inertial sensor and the strapdown inertial navigation system, determine the model coefficients through certain experiments, and then eliminate the error through software algorithms. Before the inertial sensor and strapdown inertial navigation system leave the factory, the basic error mathematical model parameters must be determined through a certain calibration method to ensure the normal operation of the sensor and system. Moreover, the research on high-order error terms of inertial sensors and the error compensation of strapdown inertial naviga...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/16
Inventor 周广涛奔粤阳高伟徐博陈世同于强高洪涛吴磊程建华张鑫
Owner HARBIN ENG UNIV
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