Attitude precision estimation method of multiple high-accuracy inertial navigations system

Abstract

The invention provides an attitude precision estimation method of multiple high-accuracy inertial navigation systems. According to the method, a set of laser tracker, an attitude measuring head, a signal generator, a swing table or turntable, and a data recording device are used to realize the attitude precision estimation of multiple high-accuracy inertial navigation systems at the same time through initial alignment calibration and synchronous data acquisition, wherein the swing table or turntable is used for providing a dynamic swing environment and can realize pitching, horizontal rolling and longitudinal swing according to a given period and amplitude value, the laser tracker and components matched with the laser tracker can measure three attitude angles of the swing table under a geographical system in real time, the signal generator sends TTL (transistor-transistor-logic) synchronizing level to the laser tracker and the laser inertial navigation systems so as to trigger data output, and the data recording device is used for receiving attitude data sent by the laser tracker and the inertial navigation systems in real time and storing the attitude data into lines. The method is quite suitable for the attitude precision estimation of the laser inertial navigation systems and can be used for estimating the attitude precision of multiple high-accuracy laser inertial navigation systems at the same time by using simplest equipment components.

Description

technical field

[0001] The invention belongs to the technical field of inertial navigation attitude dynamic accuracy evaluation, and particularly relates to high-precision and high-precision inertial navigation systems, laser trackers, swing tables, electronic levels, theodolites and other measuring equipment, and is suitable for simultaneous evaluation of attitude accuracy of multiple sets of inertial navigation systems. Background technique

[0002] The laser gyro inertial navigation system has the advantage of high precision. In recent years, the accuracy of the laser gyro inertial navigation system for ships has been significantly improved through the rotation modulation technology. The attitude accuracy can reach 1.7' (RMS), and the heading accuracy can reach 2' (RMS). In order to verify whether the actual dynamic attitude accuracy of the laser gyro inertial navigation system meets the target requirements, the accuracy of the test system needs to be more than 3 times bet...

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