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Zero calibration method for strapdown inertial navigation system

A strapdown inertial navigation and zero calibration technology, applied in measuring devices, instruments, etc., can solve problems such as affecting the accuracy of zero error evaluation, and achieve the effect of reducing performance requirements and high repeatability

Inactive Publication Date: 2013-08-07
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the problem that the accuracy of the zero error evaluation is affected by the non-orthogonal error in the installation of the measured inertial components in the existing zero calibration method, and proposes a strapdown inertial navigation system zero calibration method method

Method used

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  • Zero calibration method for strapdown inertial navigation system
  • Zero calibration method for strapdown inertial navigation system
  • Zero calibration method for strapdown inertial navigation system

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Experimental program
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specific Embodiment approach 1

[0023] Specific implementation mode one: a method for zero calibration of a strapdown inertial navigation system in the present invention is carried out according to the following steps:

[0024] 1. The strapdown system is installed on the base of the turntable, and the main axes of the X, Y, and Z axis gyroscopes of the inertial navigation system are parallel to the X, Y, and Z axes of the turntable;

[0025] 2. Start the strapdown inertial navigation system and fully warm up;

[0026] 3. Operate the three-axis turntable to locate the three-axis of the fiber optic gyroscope at 45° east by north, 45° north by west, and the sky direction, and collect N groups of fiber optic gyroscope output data. This position is the SINS at any time. The input angular rate and input acceleration are:

[0027] A x 1 ...

specific Embodiment approach 2

[0054] Specific embodiment two: this embodiment is a further description to specific embodiment one, and the fiber optic gyroscope zero position error obtained in step 7 is obtained according to the following optical fiber gyroscope error mathematical model, and the optical fiber gyroscope error mathematical model is:

[0055] ( N gx - D x 0 ) / K gx ( N gy - D ...

specific Embodiment approach 3

[0062] Specific embodiment three: This embodiment is a further description of specific embodiment one. The accelerometer zero error obtained in step 8 is obtained according to the following quartz flexible accelerometer error mathematical model, and the quartz flexible accelerometer error The mathematical model is:

[0063] N ax N ay N az = D ax 0 D ...

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Abstract

The invention discloses a zero calibration method for a strapdown inertial navigation system and solves the problem that the evaluation precision of a zero error is influenced by a non-orthogonal error of measured inertial components in the conventional zero calibration method. The method comprises the following steps of: mounting an inertial device onto a three-axle table, rotating the three-axle table to four designated positions, and carrying out accumulation and elimination on additional error components received by the four measured inertial components on the different positions due to an installation error, so as to obtain the zero errors of the inertial components. According to the novel zero calibration measuring method provided by the invention, the influenced caused by the installation error can be effectively compensated, so that the relatively accurate zero offset can be obtained, and the system accuracy is improved. The method provided by the invention can be applied to the zero calibration of navigation systems of modern weaponries.

Description

technical field [0001] The invention relates to a method for zero calibration of a strapdown inertial navigation system. Background technique [0002] As the core component of the fiber optic strapdown inertial navigation system (INS), the fiber optic gyroscope (IFOG) is an important part of modern weapons and equipment, and its accuracy and performance restrict the development of related weapons and equipment. The error coefficients of the fiber optic gyroscope must be determined through calibration tests before use, and compensated in the inertial navigation system. The calibration accuracy will greatly affect the navigation accuracy of the inertial navigation system. [0003] For inertial navigation systems, low drift rate is one of the most important technical indicators, especially in the field of ships. How to design a reasonable test to accurately obtain the zero error (also known as zero drift) of the inertial components to reduce the drift rate of the entire inerti...

Claims

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Application Information

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IPC IPC(8): G01C25/00
Inventor 周广涛时贵敏李昕光张勇刚于强郭善强
Owner HARBIN ENG UNIV