Automatic calibrating and compensating method of onboard mounting deflection angle of strapdown inertial navigation system

Abstract

The invention belongs to an inertial navigation technology, particularly relates to an automatic calibrating and compensating method of an onboard mounting deflection angle of a strapdown inertial navigation system. By using the automatic calibrating and compensating method of the onboard mounting deflection angle of the strapdown inertial navigation system, designed by the invention, only one normal compass alignment and navigation is needed after a bracket of the strapdown inertial navigation system is firstly installed on an aircraft, the posture and the heading output by the strapdown inertial navigation system are compared with the reference posture and heading, and the coordinate system of the bracket of the strapdown inertial navigation system and the mounting deflection angle of an aircraft system are automatically calibrated and are stored in a storage unit of the strapdown inertial navigation system. The mounting deflection angle is precisely compensated in the normal working process of the strapdown system through designing a mounting deflection angle compensating algorithm in strapdown inertial navigation system software, and the requirement of the aircraft for the output display and control of the posture, the heading and other navigation parameters of the strapdown inertial navigation system is met.

Description

technical field [0001] The invention belongs to the inertial navigation technology, and relates to an automatic calibration and compensation design method of a strapdown inertial navigation system on-board installation declination. Background technique [0002] When the strapdown inertial navigation system is installed on the aircraft, the three axes of the coordinate system of the mounting bracket do not coincide with the three axes of the coordinate system of the aircraft body, and there is an installation declination angle. Therefore, the attitude and heading output by the strapdown inertial navigation system are different from The actual attitude and heading of the aircraft are inconsistent, which affects the display and control accuracy of the aircraft. In order to meet the use requirements, the inertial navigation system bracket needs to be mechanically calibrated, and the calibration accuracy is required to be within ±3', so the inertial navigation system bracket coor...

AI Technical Summary

Problems solved by technology

[0002] When the strapdown inertial navigation system is installed on the aircraft, the three axes of the mounting bracket coordinate system do not coincide with the three axes of the aircraft body coordinate system, and there is an installation deflection, so the attitude, heading and The actual attitude and heading of the aircraft are inconsistent, which affects the display and control accuracy of the aircraft

In order to meet the requirements of use, the inertial navigation system bracket needs to be calibrated mechanically, and the calibration accuracy is required to be within ±3′, so the coordinate system of the inertial navigation system bracket does not completely coincide with the aircraft body coordinate system, and there is an installation error angle

The inertial navigation system uses the transformation matrix C from the carriage coordinate system to the navigation coordinate system to replace the transformation matrix from the body coordinate system to the navigation coordinate system, and replaces the attitude and heading of the body with the attitude and heading of the carriage extracted from the C matrix, thus causing the aircraft system Attitude, heading output error

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