Method for eliminating shaking impact of rotation table during high precision inertial navigation system calibration

Abstract

The present invention belongs to the technical field of inertial navigation calibration, and particularly relates to a method for eliminating shaking impact of a rotation table during high precision inertial navigation system calibration. The method comprises: firstly establishing a direction cosine matrix between a real-time vector coordinate system and a starting moment vector coordinate system; then constructing a direction cosine matrix between the starting moment vector coordinate system and a starting moment earth coordinate system; and obtaining an attitude matrix between the real-time vector coordinate system and a geographic coordinate system, wherein attitude information of a stationary state end moment is obtained. With the present invention, the technical problem of impact on calibration precision by the rotation table shaking factor during a system level calibration process of the high precision inertial navigation system is solved; and gyro output information is adopted to real timely track attitude change of the inertial navigation system due to rotation table shaking so as to eliminate adverse effects caused by the rotation table shaking, improve inertial navigation system calibration precision, and reduce requirements on rotation table locking precision during the calibration process.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation calibration, and in particular relates to a method for eliminating the vibration influence of a turntable in calibration of a high-precision inertial navigation system. Background technique [0002] In the system-level calibration scheme of the strapdown inertial navigation system, it is usually necessary to align the turntable when it is in a static state, so as to obtain the attitude of the inertial navigation system at the end of the static state. However, in practical engineering applications, the electric turntable is usually in a state of slight vibration when locked. At this time, the attitude matrix calculated by the classic initial alignment method is not the attitude matrix of the inertial navigation system at the last moment, which will affect the calibration accuracy of the inertial navigation system, especially the high-precision inertial navigation system. Contents of t...

AI Technical Summary

Problems solved by technology

However, in practical engineering applications, when the electric turntable is locked, it is usually in a state of slight vibration

At this time, the attitude matrix calculated by the classic initial alignment method

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