Method of quickly calibrating oblique redundant strapdown inertial navigation system

Abstract

The invention discloses a method of quickly calibrating an oblique redundant strapdown inertial navigation system. The method comprises the following steps of: 1, describing a mounting misalignment angle of the oblique RSINS (Redundant Strapdown Inertial Navigation System), and giving a calibrating measurement equation; 2, designing a calibrating scheme of the oblique RSINS; and 3, constructing a calibrating simulation platform of the oblique RSINS, and verifying accuracy of the calibrating method by utilizing the simulation platform. The method, provided by the invention, is capable of quickly calibrating the oblique RSINS on the basis of a tri-axial position / speed turntable, calibrating parameters, such as zero offsets, scale factors and mounting misalignment angles of a redundant accelerometer and a gyro, are calibrated by utilizing a four-position method and a three-position rotating method, and accuracy of the calibrating method can be verified by utilizing the simulation platform. The method, provided by the invention, has the advantages of high calibration precision, simple operation, capability of meeting quick calibration requirements of the oblique RSINS at low and middle precisions, and better engineering application value.

Description

technical field [0001] The invention relates to a fast calibration method for an oblique redundant strapdown inertial navigation system, which belongs to the technical field of aviation and aerospace navigation. Background technique [0002] The traditional strapdown inertial navigation system scheme is an orthogonal configuration of "3 gyroscopes + 3 accelerometers", using the sensitive axes of the gyroscopes and accelerometers to construct the body coordinate system of the inertial navigation system. All output information from the gyroscope and accelerometer will be used in the inertial navigation solution. The traditional strapdown inertial navigation system does not allow inertial sensitive components to produce fault outputs. When any inertial sensitive components fail and output abnormal values, the navigation results output by the system will no longer be valid. Therefore, the failure of any inertial device in the traditional strapdown inertial navigation system is ...

AI Technical Summary

Problems solved by technology

[0006] 1. The existing domestic discrete calibration method is only suitable for redundant strapdown inertial navigation systems composed of low-precision MEMS devices, which has poor versatility;

[0007] 2. As far as the current level of domestic inertial devices is concerned, the advantages of system-level calibration cannot be fully utilized. If the Kalman filter is not designed properly, the estimation of each calibration parameter will diverge, which will seriously affect the calibration performance

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