Accuracy testing and calculating method of single-beam laser speedometer for combined navigation

Abstract

The invention relates to an accuracy testing and calculating method of a single-beam laser speedometer for combined navigation. The method comprises the following ten steps of: 1) setting the rotating shaft position of a turntable; 2) horizontally aligning the laser transmitting end of the speedometer to the edge of the turntable; 3) measuring an included angle between a laser beam and the tangential direction of the edge of the turntable; 4) setting an angular rate input point within an input angular speed range; 5) setting the output data sampling interval and times of the speedometer according to a standard; 6) testing and calculating an output average value under the condition of the input angular speed; 7) calculating a scale factor, zero bias and scale factor nonlinearity by using the data obtained in the previous step; 8) repetitively testing according to the step 1 to the step 6 to calculate scale and zero bias repeatability; 9) setting the rotating speed of the turntable to a low rotating speed, and testing and calculating mean-square deviation of data after the data is smoothed according to preset time to obtain zero bias stability and noise; and 10) setting the rotating speed of the turntable to a high rotating speed, testing and calculating mean-square deviation of data after the data is smoothed according to preset time to obtain an initial value of scale factor stability, and finally taking a square root of a difference value between the squared value of the initial value of scale factor stability and the squared value of the zero bias stability to obtain the scale factor stability.

Description

Technical field:

[0001] The invention relates to a method for testing and calculating the accuracy of a single-beam laser velocimeter for integrated navigation, and belongs to the technical field of inertial navigation / integrated navigation. Background technique:

[0002] Inertial navigation is a completely autonomous navigation device, which can complete navigation tasks independently without external interference; however, inertial navigation errors accumulate over time, making it difficult to provide accurate navigation information for a long time. Therefore, it is an inevitable development trend that the inertial navigation system and external sensors jointly realize integrated navigation. At present, the commonly used vehicle integrated navigation methods mainly include inertial navigation / GPS combination and inertial navigation / odometer combination. Although inertial navigation / GPS integrated navigation can well solve the problem of error accumulation, GPS has disadva...

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