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Method for multi-position optimal estimation detection of key parameters of incomplete-freedom degree inertial platform

A technology of an inertial platform and a detection method, which is applied to measurement devices, instruments, etc., can solve the problems of inconvenient disassembly and assembly of the platform system, unfavorable for actual operation, and complicated installation of the inertial platform system with incomplete degrees of freedom.

Inactive Publication Date: 2012-10-10
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

Although this method can obtain high-precision detection results, in practical applications, considering factors such as the structure of the carrier and the installation space, the installation of a non-full degree of freedom inertial platform system is often very complicated. It is very inconvenient to disassemble
Therefore, this method is not conducive to practical

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  • Method for multi-position optimal estimation detection of key parameters of incomplete-freedom degree inertial platform
  • Method for multi-position optimal estimation detection of key parameters of incomplete-freedom degree inertial platform
  • Method for multi-position optimal estimation detection of key parameters of incomplete-freedom degree inertial platform

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Embodiment Construction

[0076] In order to better illustrate the purpose and advantages of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0077] In this embodiment, the self-test of key parameters is performed in combination with the actual inertial platform system. In the platform system, the random drift of the three accelerometers is 1×10 -6 m / s 2 , the random drift of the three gyroscopes is 0.0001° / h. The process is as follows:

[0078] Step 1. Give the expression of the acceleration of gravity and the angular velocity of the earth's rotation in the geographic system, deduce the conversion relationship from the geographic coordinate system to the platform coordinate system, and then obtain the expression of the acceleration of gravity in the platform system.

[0079] The ground speed is expressed in the geographic coordinate system as

[0080]

[0081] The ground speed is expressed in the platfo...

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Abstract

The invention relates to a method for multi-position optimal estimation detection of key parameters of an incomplete-freedom degree inertial platform. The method realizes on-line self-detection of an incomplete-freedom degree inertial platform, is suitable for self-detection of various types of incomplete and complete freedom degree inertial platforms and belongs to the field of on-line self-detection of parameters. A basic principle of the method comprises that under preconditions of no use of other applied equipment and no disassembling of a platform system, through outputs of an accelerometer and a gyroscope at the time when the gesture of the platform system changes, the combination with output models of the accelerometer and the gyroscope, and utilization of an extended Kalman filter method, key parameters of the platform system are detected in real time. The method realizes real-time self-detection and feedback of key parameters of a platform system, is conducive to timely compensation of a platform system and improves work precision and stability of a platform system. The method realizes real-time self-detection and feedback of key parameters of a platform system, also realizes real-time estimation of an error angle of the platform system, and improves calculation precision of other parameters.

Description

technical field [0001] The invention relates to an online self-inspection method for an inertial platform with a non-complete degree of freedom, which is suitable for self-inspection of various incomplete and full-degree-of-freedom inertial platform systems, and belongs to the field of online self-inspection of parameters. Background technique [0002] Inertial platform systems with non-complete degrees of freedom are widely used in missiles, aircraft, and spacecraft, and are an important guarantee for the completion of established goals. The inertial platform system is the "heart" of aircraft navigation and guidance. Improving the measurement accuracy of the inertial platform system can directly and effectively improve the combat effectiveness of the aircraft. [0003] Detecting some key parameters of the non-complete degree of freedom inertial platform system, such as various zero drift of the gyroscope and accelerometer zero bias, and properly compensating for errors is a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
Inventor 王博付梦印邓志红汪顺亭徐晓东
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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