Method for external field fast calibrating miniature multi-sensor combined navigation system

An integrated navigation system and multi-sensor technology, which is applied in the field of rapid calibration of miniature multi-sensor integrated navigation systems in the field, can solve the problems that it is difficult to have high-precision laboratory turntables and horizontal and azimuth references, and limit the widespread use of miniature multi-sensor integrated navigation systems.

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

The use environment of the miniature multi-sensor integrated navigation system is mostly in the field, and it is difficult to have a special high-precision la

Method used

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  • Method for external field fast calibrating miniature multi-sensor combined navigation system
  • Method for external field fast calibrating miniature multi-sensor combined navigation system
  • Method for external field fast calibrating miniature multi-sensor combined navigation system

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Embodiment Construction

[0095] Specific steps such as figure 1 Shown:

[0096] (1) Three silicon MEMS gyroscopes and three silicon MEMS accelerometers installed orthogonally form an inertial measurement module, and then form a miniature multi-sensor integrated navigation system together with a two-dimensional inclination sensor and a miniature magnetic compass.

[0097] Such as figure 2 As shown, the miniature magnetic compass, the two-dimensional inclination sensor, the inertial measurement module and the installation reference body are all placed on the base plate, where the inertial measurement module is the rotating part on the base plate, and the two-dimensional inclination sensor and the miniature magnetic compass are the non-rotating The two parts are separated by the installation reference body.

[0098] (2) After the miniature multi-sensor integrated navigation system is turned on and warmed up, the output of the two-dimensional inclination sensor is detected. When the measured data are ...

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Abstract

The invention discloses a method of a micro combined multi-sensor navigation system with quick outfield calibration, and the micro combined multi-sensor navigation system of the method comprises a two-dimensional obliquity sensor, a micro magnetic compass, three silicon MEMS gyros and three silicon MEMS accelerometers. In order to improve the use precision of the micro combined multi-sensor navigation system, the method of the invention discloses that the instant quick outfield calibration is implemented on the micro combined multi-sensor navigation system before use; wherein, the two-dimensional obliquity sensor provides a calibration horizontal benchmark, the micro magnetic compass provides a calibration azimuth benchmark, the three silicon MEMS gyros and the three silicon MEMS accelerometers measure the output of angular velocity and accelerated velocity, and seven core error coefficients of the micro combined multi-sensor navigation system are calibrated in a data post-processing. The method of the micro combined multi-sensor navigation system with quick outfield calibration is simple, convenient and efficient, overcomes the defect that the repetitiveness of each starting of the micro combined multi-sensor navigation system is bad, directly improves the precision of each use, and avoids the inconvenience that is caused by the dependence of traditional calibration methods on special high-precision laboratory equipment.

Description

technical field [0001] The invention relates to a method for quickly calibrating a miniature multi-sensor integrated navigation system in the field, which can be used for calibration compensation before the miniature multi-sensor integrated navigation system works, overcomes the shortcoming of the micro multi-sensor integrated navigation system's poor repeatability each time it is turned on, and also avoids Traditional calibration methods have to rely on the inconvenience caused by specialized high-precision laboratory equipment, and improve the accuracy of multi-sensor use. Background technique [0002] MEMS gyroscopes and accelerometers are products of the rapid development of Micro Electro-Mechanical System (MEMS) technology. The inertial measurement module composed of them measures the angular velocity and acceleration of the carrier relative to the inertial space, and can provide position, Speed ​​and attitude information has the advantages of good concealment, no limit...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C23/00
Inventor 盛蔚房建成谭丽伟曹娟娟张霄陶冶
Owner BEIHANG UNIV
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