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Scale factor error calibration and compensation method of flexible gyroscope position and orientation system (POS)

A scale factor error, measurement system technology, applied in the direction of measurement devices, instruments, etc., can solve the problems of large-scale errors, limited effect of flexible gyro scale factor error compensation, etc., and achieve the effect of improving error compensation accuracy.

Inactive Publication Date: 2014-11-05
BEIHANG UNIV
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Problems solved by technology

This method does not realize the detailed analysis of the "hyperbolic" change law of the scaling factor of the flexible gyroscope in a small rate range, and there will still be a large quantization error, resulting in a limited compensation effect for the scaling factor error of the flexible gyroscope

Method used

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  • Scale factor error calibration and compensation method of flexible gyroscope position and orientation system (POS)
  • Scale factor error calibration and compensation method of flexible gyroscope position and orientation system (POS)
  • Scale factor error calibration and compensation method of flexible gyroscope position and orientation system (POS)

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Experimental program
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Effect test

Embodiment

[0091] Firstly, the position rate calibration experiment is carried out on the flexible gyro POS, and 24 static position tests and five sets of rate tests of 1° / s, 3° / s, 5° / s, 10° / s, and 20° / s are selected. According to the "hyperbolic" equation form for linear regression fitting, the coefficients of the scaling factor regression equation are shown in Table 1.

[0092] Table 1 Scale Factor Regression Equation Coefficients

[0093] Coefficient

β 0+

β 1+

Β 0-

β 1-

X axis

1.970e-003

4.857e-001

2.017e-003

4.856e-001

Y axis

6.254e-004

4.914e-001

5.967e-004

4.913e-001

Z axis

1.177e-003

4.925e-001

1.158e-003

4.925e-001

[0094] Then the speed compensation experiment is carried out to verify the accuracy of the calibration coefficient. Let the turntable rotate at a constant rate of 8° / s, and use the conventional method and the method of this patent to c...

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Abstract

The invention relates to a scale factor error calibration and compensation method of a flexible gyroscope POS. According to the use environment characteristics of the POS, an inertial measurement unit (IMU) needs to precisely measure a small input angular velocity. The scale factor error calibration and compensation method is characterized in that a linear regression equation of the scale factor of an IMU angular velocity channel is constructed according to the positive and negative values of the input angular velocity in a small angular velocity range; and the scale factor and other error coefficient are updated synchronously according to the change of the input angular velocity during error compensation, thereby improving the error compensation accuracy. The method provided by the invention can accurately eliminate the scale factor error of the angular velocity channel to realize the accurate measurement of small angular velocity information by the IMU, thereby improving the orientation measurement accuracy of the POS.

Description

technical field [0001] The invention relates to a scaling factor error calibration and compensation method of a flexible gyro position and attitude measurement system (Position and Orientation System, POS), which can be used to accurately compensate the scaling factor error in the flexible gyro POS angular velocity channel, and belongs to aviation remote sensing The technical field of direct geographic surveying. Background technique [0002] POS is an inertial / satellite combined measurement system that accurately measures position, velocity, and attitude. It is closely connected to the aerial remote sensing payload and provides high-precision motion compensation information for payload data processing. [0003] Due to its advantages in volume, weight, accuracy, technology maturity and reliability, flexible gyroscopes are suitable for building miniaturized POS systems and applied to light and small aerial remote sensing. The POS based on the flexible gyro mainly consists of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
Inventor 钟麦英房建成郭佳李建利宫晓琳
Owner BEIHANG UNIV
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