Single-axle table calibration method for fiber optic gyro strapdown inertial navigation system

A strapdown inertial navigation and fiber optic gyroscope technology, applied in the field of navigation, can solve the problems of high price, inability to guarantee accuracy, troublesome installation (requires a foundation of three to five meters, etc.)

Inactive Publication Date: 2011-04-06
HARBIN ENG UNIV
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Problems solved by technology

As a kind of turntable, the three-axis test turntable can perform attitude angle movement in three degrees of freedom, that is, it can reproduce all the attitude angle movement states of the carrier. The large three-axis test turntable has high angular position positioning accuracy and a wide speed range. There

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  • Single-axle table calibration method for fiber optic gyro strapdown inertial navigation system
  • Single-axle table calibration method for fiber optic gyro strapdown inertial navigation system
  • Single-axle table calibration method for fiber optic gyro strapdown inertial navigation system

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Embodiment Construction

[0088] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0089] combine Figure 1~4 , a single-axis turntable calibration method for a fiber optic gyro strapdown inertial navigation system, which is characterized by:

[0090] (1) Place the fiber optic gyroscope strapdown inertial navigation system on a single-axis turntable, power on the fiber optic gyroscope strapdown inertial navigation system to preheat, and then collect the data output by the gyroscope and accelerometer;

[0091] (2) Record the position of the fiber optic gyro strapdown inertial navigation system at the initial moment as position a, such as figure 1 As shown, the angular velocity output by the fiber optic gyroscope within 300 seconds is collected at position a

[0092] ω a (1), ω a (2),... ω a (N)

[0093] Compared with the output of the quartz flexible accelerometer

[0094] f a (1), f a (2),... f a (N),

[0095] in h is the sampling p...

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Abstract

The invention aims at providing a single-axle table calibration method for a fiber optic gyro strapdown inertial navigation system. The fiber optic gyro strapdown inertial navigation system is placed on a single-axle table, the fiber optic gyro strapdown inertial navigation system is electrified for preheating, the angular velocity outputted by a fiber optic gyro and the specific force outputted by a quartz flexible accelerometer are collected, then the single-axle table is controlled to rotate at 90 degrees counter-clockwise around a rotating shaft three times, the angular velocity outputted by the fiber optic gyro and the specific force outputted by the quartz flexible accelerometer at each time are respectively collected, and the drift of the fiber optic gyro in an x, y and z-axis coordinate system of an inertia device and the zero bias value of the quartz flexible accelerometer in the x, y and z-axis coordinate system of the inertia device are further obtained. The method can measure the drift of the fiber optic gyro and the zero bias value of the quartz flexible accelerometer by utilizing the single-axle table to rotate into different angular positions; furthermore, the calibration cost of the single-axle table is low, the steps are simple, and the single-axle table only needs to be placed on the ground during the calibration without a laboratory.

Description

technical field [0001] The invention relates to a calibration method in the field of navigation. Background technique [0002] Calibration technology is a method to improve the accuracy of inertial navigation system from the aspect of software. Calibration technology is essentially an error measurement technology. For the fiber optic gyroscope strapdown inertial navigation system, the so-called error compensation technology is to establish the error mathematical model of the fiber optic gyroscope and the quartz flexible accelerometer, and measure the model coefficients through certain experiments, and then determine the error mathematics of the fiber optic gyroscope and the quartz flexible accelerometer. Model. The current calibration methods all use a large three-axis test turntable to perform a pre-set calibration path. After the position measurement test, speed measurement test and zero correction measurement test, the drift, scale factor, and installation of the fiber ...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/18
Inventor 奔粤阳吴晓李倩高伟付建楠王秋滢盛宏媛张义车延庭南兆君
Owner HARBIN ENG UNIV
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