Spot calibration method of rotary strap-down inertial navigation system with unknown carrier attitude

A strapdown inertial navigation and on-site calibration technology, applied in the field of measurement, can solve the problems that multi-position tests and speed tests cannot be implemented

Inactive Publication Date: 2012-11-21
LIAONING TECHNICAL UNIVERSITY
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  • Application Information

AI Technical Summary

Problems solved by technology

During on-site calibration, since there is no precision turntable as a test reference, it is difficult to preci

Method used

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  • Spot calibration method of rotary strap-down inertial navigation system with unknown carrier attitude
  • Spot calibration method of rotary strap-down inertial navigation system with unknown carrier attitude
  • Spot calibration method of rotary strap-down inertial navigation system with unknown carrier attitude

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Experimental program
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Embodiment Construction

[0055] The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing:

[0056] (1) Fasten the fiber optic gyroscope assembly to the table of the biaxial indexing mechanism to ensure that the coordinate system of the gyroscope coincides with the coordinate system of the indexing mechanism, and adjust the indexing mechanism to make it consistent with the carrier coordinate system before the start of the experiment;

[0057] (2) Determine the initial position parameters of the carrier by GPS, and bind them into the navigation computer;

[0058] (3) The strapdown inertial navigation system is preheated, and the data output by the fiber optic gyroscope and the quartz accelerometer are collected and processed;

[0059] (4) Utilize the gravitational acceleration component sensitive to the accelerometer to determine the horizontal attitude angle of the carrier;

[0060] Since the carrier has a fixed attitude angle relative to t...

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Abstract

The invention provides a spot calibration method of a rotary strap-down inertial navigation system with unknown carrier attitude. The spot calibration method comprises steps as follows: fastening a fiber-optic gyroscope on a table surface of a dual-shaft indexing mechanism, so that a coordinate system of the gyroscope is ensured to be overlapped with a coordinate system of the indexing mechanism; determining an initial position parameter of the carrier through a GPS (global positioning system) and binding the initial position parameter of the carrier in a computer; collecting data output by the fiber-optic gyroscope and a quartz accelerometer and processing the data; determining horizontal attitude angle of the carrier by utilizing gravity sensing component of the accelerometer; establishing a simple error model of the fiber-optic gyroscope; designing an eight-position indexing scheme by using the dual-shaft indexing mechanism; and processing output at each position of gyroscope module collected by the computer through Matlab to obtain various error parameters of the gyroscope module. A eight-position static calibration method provided by the dual-shaft indexing mechanism disclosed by the invention can be applied to calculating each error coefficient of the fiber-optic gyroscope accurately, thereby short-time and high-precision calibration work of the fiber-optic gyroscope under a condition that the carrier attitude is unknown are accomplished.

Description

(1) Technical field [0001] The present invention relates to a measurement method, in particular to a field calibration method for a rotating strapdown inertial navigation system with an unknown carrier attitude (2) Background technology [0002] Fiber optic gyroscope has been rapidly developed and applied in the field of inertial devices due to its advantages of large dynamic range, high precision, fast start-up and flexible system design. The calibration technology of the fiber optic gyroscope is to establish its error mathematical model, use certain experiments to determine the model coefficients, and then use software algorithms to eliminate errors. At present, the calibration technology of fiber optic gyroscope is relatively mature. According to the different calibration places, it can be divided into in-field calibration and out-field calibration. These are two different stages of calibration. In-field calibration is the basis of out-field calibration. Infield calibrat...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/16
Inventor 孙伟徐爱功车莉娜
Owner LIAONING TECHNICAL UNIVERSITY
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