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On-line self-calibrating method based on inertial navigation system

A technology of an inertial navigation system and a calibration method, which is applied in the field of online autonomous calibration of a strapdown hybrid system of a fiber optic gyro platform, and can solve the problems that the angle between the roll axis and the horizontal plane cannot be eliminated.

Inactive Publication Date: 2014-12-10
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0004] In order to solve the problem that the angle between the roll axis of the system and the horizontal plane cannot be eliminated in the dual-axis rotation modulation inertial navigation system, the present invention provides an online autonomous calibration method based on the inertial navigation system, which solves the problem of the system in the dual-axis rotation modulation inertial navigation system. The problem that the angle between the roll axis and the horizontal plane cannot be eliminated provides a reliable basis for the pre-estimation of the attitude angle and realizes the purpose of online self-calibration

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[0070] Further description will be made below in conjunction with the accompanying drawings.

[0071] An online self-calibration method based on an inertial navigation system, the specific steps of the method are as follows:

[0072] Step 1: Inertial Navigation System Initial Alignment

[0073] For the dual-axis rotation modulation inertial navigation system, the strapdown algorithm is used for initial alignment to obtain the initial attitude angles of the three axes; the loop composed of the angle sensor and the servo motor on the rotating shaft is used to control the rotation of the azimuth axis, so that the north direction The projection of the roll axis of the gyro on the horizontal plane points to the true north; then the circuit is used to control the rotation of the roll axis so that the pitch axis of the east-facing gyro points to the true east;

[0074] According to the initial attitude angle and the rotation angle of the azimuth axis and roll axis controlled by the ...

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Abstract

The invention belongs to the field of self-calibration. In order to solve the problem that an included angle between a system horizontal rolling shaft in a biaxial rotary modulation inertial navigation system and a horizontal plane cannot be eliminated, the invention provides an on-line self-calibrating method based on an inertial navigation system. According to the method, on-line self-calibration for the inertial navigation system is realized by calculating a constant drift of a gyroscope and a scale factor in the step 2 and null bias of an added meter and a scale factor in the step 3. The problem that the included angle between the system horizontal rolling shaft in the biaxial rotary modulation inertial navigation system and the horizontal plane cannot be eliminated is solved; reliable basis is supplied to preestimation of a posture angle; and an aim of on-line self-calibration is fulfilled.

Description

technical field [0001] The invention belongs to the field of self-calibration, and relates to an on-line self-calibration method based on an inertial navigation system, in particular to an on-line self-calibration method based on a two-axis rotating optical fiber gyro platform strapdown hybrid system. Background technique [0002] For long-endurance inertial navigation systems, the readjustment period is several days or even more than ten days, so the method of online self-calibration of key parameters of inertial devices is very necessary. The laboratory calibration method can only use the acceleration of gravity and the angular velocity of the earth's rotation at a known location to detect the key parameters of the inertial device. [0003] Since the pitch axis of the two-axis rotation modulation inertial navigation system is fixedly connected to the carrier, the angle between the roll axis of the system and the horizontal plane cannot be eliminated; at the same time, the ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00G01C21/18
Inventor 付梦印邓志红王博汪顺亭周元
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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