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Calibration method for three-beam laser velocimeter on basis of navigation system

A technology of laser speedometer and calibration method, which is applied in the field of inertial navigation technology/integrated navigation, and can solve problems such as calibration installation angle and scale factor error

Inactive Publication Date: 2012-10-03
BEIHANG UNIV
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Problems solved by technology

[0004] 1. Purpose: The purpose of the present invention is to provide a method for calibrating a three-beam laser speedometer based on a navigation system, which overcomes the deficiencies in the prior art and solves the need to calibrate the installation angle and mark when the laser speedometer is installed on the carrier. degree factor error problem

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  • Calibration method for three-beam laser velocimeter on basis of navigation system
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  • Calibration method for three-beam laser velocimeter on basis of navigation system

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Embodiment Construction

[0043] See image 3 , a method for calibrating a three-beam laser velocimeter based on a navigation system of the present invention, the specific steps of the method are as follows:

[0044] Step 1. Install the strapdown inertial navigation system, differential GPS and laser speedometer on the carrier, and bind the initial position parameters (including initial longitude, latitude and altitude) to the navigation computer of the inertial navigation.

[0045] Step 2. Warm up the SINS, and then collect the output data of the gyroscope and accelerometer.

[0046] Step 3. Process the collected gyroscope and accelerometer data. According to the error propagation characteristics of the strapdown inertial navigation system and the classical control theory, use the second-order leveling and azimuth estimation method to complete the rough alignment of the system, and initially determine the carrier attitude angle . The coarse alignment time is 1 minute. After rough alignment, Kalman ...

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Abstract

A calibration method for a three-beam laser velocimeter on basis of a navigation system comprises the following seven steps: 1, installing an inertial unit, a differential GPS and the laser velocimeter on a carrier, and binding initial position parameters onto a navigation computer; 2, preheating a strap down inertial unit, and collecting the output data of a gyroscope and an accelerometer; 3, preprocessing the collected output data; 4, initiating the differential GPS and the laser velocimeter, allowing the system to switch into an SINS / DGPS mode from an alignment mode, and allowing the carrier to begin moving; 5, collecting the output of the velocimeter and the output of an SINS / DGPS combination navigation system when the carrier is in different motion states at different times; 6, respectively identifying the error of three installation angles and the scale factor of the laser velocimeter by a least square method; and 7, evaluating and analyzing the calibration precision. According to the invention, the accurate calibration of the three-beam laser velocimeter is realized through utilizing the characteristics of the strap down inertial unit and the combination navigation system that the output speed precision is high. Therefore, the calibration method has a practical value in the inertial navigation technology field.

Description

Technical field: [0001] The invention relates to a calibration method for a three-beam laser speedometer based on a navigation system, and belongs to the technical field of inertial navigation technology / integrated navigation technology. Background technique: [0002] As a speed sensor, the laser velocimeter has the advantages of complete autonomy, high precision, wide speed range, good dynamic performance and non-contact measurement. A separate laser speedometer does not have the function of navigation and positioning, but it can complement the advantages of the combination with the inertial navigation system, and can realize fully autonomous and high-precision navigation and positioning. [0003] In the actual use of the integrated navigation system, the inertial navigation system and the three-beam laser speedometer are installed in different positions of the carrier, and the installation angle of the speedometer needs to be calibrated. At the same time, the scale factor ...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01S7/497
Inventor 张小跃林志立潘建业张春熹宋凝芳尹俊杰
Owner BEIHANG UNIV
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