Method of quickly calibrating oblique redundant strapdown inertial navigation system

A redundant strapdown inertia and calibration method technology, which is applied in aerospace navigation and aviation fields, can solve the problems of calibration parameter estimation divergence, poor versatility, and impact on calibration performance, achieving short time consumption, simple operation, and enhanced observability Effect

Active Publication Date: 2013-02-13
BEIHANG UNIV
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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 inertia

Method used

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  • Method of quickly calibrating oblique redundant strapdown inertial navigation system
  • Method of quickly calibrating oblique redundant strapdown inertial navigation system
  • Method of quickly calibrating oblique redundant strapdown inertial navigation system

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Embodiment Construction

[0027] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0028] The present invention is a fast calibration method of oblique redundant strapdown inertial navigation system. First, the calibration measurement equation of oblique RSINS (oblique redundant strapdown inertial navigation system) is given and its installation misalignment is emphatically described. Then the four-position calibration method of the accelerometer and gyroscope is given, and a three-position rotation calibration method is proposed for the low-precision gyroscope; finally, an oblique RSINS calibration simulation platform is built to describe the functions of each functional module, and use the simulation platform Verify the accuracy of the above calibration method.

[0029] Process such as Figure 5 shown, including the following steps:

[0030] Step 1: Describe the misalignment angle of the oblique RSINS installation, and construct...

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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 ...

Claims

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Application Information

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IPC IPC(8): G01C25/00
Inventor 张春熹宋来亮晁代宏周小红
Owner BEIHANG UNIV
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