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Rapid measuring method for installation error of strapdown inertial system gyroscope based on three-axle rotary table

A strapdown inertial system and three-axis turntable technology, which is applied to navigation, measuring devices, instruments and other directions through velocity/acceleration measurement, can solve problems such as time-consuming, and achieve the effects of simple method, small amount of calculation, and high precision

Inactive Publication Date: 2010-12-01
HARBIN ENG UNIV
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Problems solved by technology

[0004] The traditional method of measuring the installation error of the gyroscope is to obtain the installation error of the gyroscope through the speed experiment of the turntable when the inertial device is calibrated.

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  • Rapid measuring method for installation error of strapdown inertial system gyroscope based on three-axle rotary table
  • Rapid measuring method for installation error of strapdown inertial system gyroscope based on three-axle rotary table
  • Rapid measuring method for installation error of strapdown inertial system gyroscope based on three-axle rotary table

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[0020] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0021] figure 1 For the six installation errors of the gyro θ xy , θ xz , θ yx , θ yz , θ zx , θ zy Coordinate schematic diagram, OXYZ is the standard orthogonal coordinate system, OX b Y b Z b It is a non-orthogonal coordinate system composed of the three sensitive axes of the gyroscope. OX' is OX b The projection on the plane OZX, the angle between the two is θ xz , the angle between OX′ and OX is θ xy , such that OX b The installation error between OX and OX can be used with the above two parameters θ xz , θ xy to describe; similarly, OY′ is OY b Projection on the plane OXY, OY b The installation error angle between OY and OY can be used with two small angles θ yx , θ yz to describe; OZ' is OZ b Projection on the plane OZY, OZ b The installation error between OZ and OZ can also be used with two small angles θ zy , θ zx to describe.

[002...

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Abstract

The present invention provides a rapid measuring method for installation error of a strapdown inertial system gyroscope based on a three-axle rotary table; the strapdown system is installed on a chassis of the three-axle table; sensing shafts of an Y gyroscope, a X gyroscope and a Z gyroscope are pointed at an inner frame, a middle frame and an outer frame of the rotary table, and the inner frame is pointed to the east, the middle frame is pointed to the north and the outer frame is pointed to the sky; the rotary table chooses the northeast direction to respectively adjust the angles of the inner frame, the middle frame and the outer frame to cause the Y gyroscope, the X gyroscope and the Z gyroscope to satisfy the output requirement to get the first to sixth installation errors of the gyroscope. The method separates the installation error from the standardizations of the gyroscope and avoids the influence caused by coupling each measuring parameter in the testing method for the standardizations of the gyroscope of the traditional speed experiments by directly and quickly measuring via the three-axle rotary table. Compared with the prior art, the method is simple and quick, has explicit physical conception, easy understanding and small calculation amount. Therefore, the method is a rapidly, directly and independently measuring method with higher precision.

Description

technical field [0001] The invention relates to a method for measuring installation errors of navigation devices in the navigation field. Background technique [0002] The strapdown inertial system has short response time, high reliability, small size, light weight, and certain accuracy. It is widely used in the navigation field and has huge economic benefits. [0003] The installation error is an important part of the error source of the strapdown inertial system. Therefore, in the actual system, in order to improve the accuracy of the navigation system, it is first necessary to install the gyroscope as accurately as possible according to the accuracy requirements, and then measure and estimate the installation error for correction. Compensation to reduce the adverse effects of gyroscope installation errors on the system. [0004] The traditional method of measuring the installation error of the gyroscope is to obtain the installation error of the gyroscope through the spe...

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Application Information

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IPC IPC(8): G01C25/00G01C21/18
Inventor 孙枫唐李军周广涛高伟徐博奔粤阳于强王武剑吴磊王伟
Owner HARBIN ENG UNIV
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