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

A technology of laser velocimeter and calculation method, applied in the field of inertial navigation/integrated navigation, can solve the problem of not comprehensively proposing the accuracy test of laser velocimeter

Inactive Publication Date: 2014-12-24
BEIHANG UNIV
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Problems solved by technology

[0004] At present, the integrated navigation of the laser speedometer and the inertial navigation system has become an important development direction, but a method for testing and calculating the accuracy of the laser speedometer for integrated navigation has not yet been comprehensively proposed. The accuracy test and calculation method of the laser velocimeter used for integrated navigation described in the present invention

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

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Embodiment Construction

[0112] (1) see figure 1 , figure 2 , a method for testing and calculating the accuracy of a single-beam laser velocimeter for integrated navigation of the present invention, the specific steps of the method are as follows:

[0113] Step 1: Set the rotation axis of the angular rate turntable to be vertical, and the error with the local vertical line shall not exceed the specified value.

[0114] Step 2: Align the laser emitting end of the single-beam laser velocimeter horizontally with the edge of the turntable, the error does not exceed the specified value, and then place it fixedly.

[0115] Step 3: Measure the angle θ between the laser beam and the tangential direction of the edge of the turntable. If θ is 90°, adjust the direction of the laser beam so that the angle θ is not 90°.

[0116] Step 4: Set M (predetermined M≥15) angular rate input points within the angular velocity range that the turntable can provide.

[0117] Step 5: Set the sampling interval and sampling t...

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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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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00G01S7/497
Inventor 张小跃易晓静晁代宏张春熹宋凝芳尹俊杰
Owner BEIHANG UNIV
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