Mobile strapdown attitude and heading reference based method for calibrating marine optical fiber gyroscope assembly on line

Abstract

The invention provides a mobile strapdown attitude and heading reference based method for calibrating a marine optical fiber gyroscope assembly on line. In the method, mobile strapdown attitude and heading reference is used as a reference measurement basis system, an optical fiber gyroscope strapdown inertial navigation system to be calibrated is used as a system to be measured, and the attitude information of the strapdown attitude and heading reference is used as external reference information; during the attitude information transmission between the strapdown attitude and heading reference and the optical fiber gyroscope strapdown inertial navigation system, a filter is used for estimating and compensating the parameter error to be calibrated of the optical fiber gyroscope assembly consisting of three optical fiber gyroscopes installed vertically one another. The method improves the measurement precision of the optical fiber gyroscope strapdown inertial navigation system, avoids the periodic disassembly of the optical fiber gyroscope strapdown inertial navigation system and improves the maintainability of the ship. Compared with the traditional base-grade calibration method, the method is simple and convenient to operate and has low cost.

Description

technical field [0001] The invention relates to an online calibration method for a marine optical fiber gyroscope measurement component. Specifically, using the high-precision attitude measurement parameters output by the strapdown attitude reference as external reference information, the online calibration model of the fiber optic gyro measurement component is established, and the calibration parameters of the fiber optic gyroscope measurement component are estimated by Kalman filtering technology, and the online calibration is completed. Calibration method. Background technique [0002] The marine fiber optic gyro strapdown inertial navigation system is a carrier motion parameter measurement device with the fiber optic gyro measurement component (composed of three mutually vertically installed fiber optic gyroscopes) as the core, so the accuracy of the fiber optic gyroscope measurement component directly affects the measurement of the entire inertial navigation system pre...

AI Technical Summary

Problems solved by technology

Although this method can guarantee the calibration accuracy, there are problems such as poor operability, high cost and repeatability error.

In addition, more importantly, after the fiber optic gyro measurement components are calibrated in the laboratory, due to changes in the environment and the passage of time, the calibration parameters of the gyro will change compared with the calibration results of the base laboratory turntable, which will seriously affect the fiber optic gyro measurement. The performance of components, which in turn affects the measurement accuracy of the entire inertial navigation system, so it must be recalibrated after a certain period of use

Images