Single-shaft rotary type inertial navigation system and special error self-compensation method thereof

An inertial navigation system and rotary technology, applied in the field of error compensation, can solve undiscovered problems, achieve the effect of improving compensation effect and guaranteeing maintenance cost

Active Publication Date: 2013-09-11
哈尔滨工程大学科技园发展有限公司 +1
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  • Abstract
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  • Application Information

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Problems solved by technology

[0005] At present, no introduction of a method similar to this

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  • Single-shaft rotary type inertial navigation system and special error self-compensation method thereof
  • Single-shaft rotary type inertial navigation system and special error self-compensation method thereof
  • Single-shaft rotary type inertial navigation system and special error self-compensation method thereof

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Embodiment Construction

[0024] The present invention will be further described below in conjunction with accompanying drawing:

[0025] Explanation of serial numbers in the figure:

[0026] 1...IMU, 2...Three accelerometers, 3...Three gyroscopes, 4...Inversion mechanism, 5...Rotary shaft, 6...IMU mounting surface, 7...IMU output signal, 8...IMU mounting surface inclination adjustment mechanism Output signal, 9...CPU control inclination signal and inclination adjustment mechanism inclination monitoring signal, 10...Transposition mechanism rotation angle signal, 11...Transposition mechanism rotation angle signal and CPU control rotation angle signal.

[0027] The present invention is aimed at the fact that the current single-axis rotary inertial navigation system cannot compensate the constant value drift error and slow-variation random drift error of the inertial device in the direction parallel to the rotation axis, and the use of a two-axis or three-axis rotation scheme will make the system The ove...

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Abstract

The invention relates to a single-shaft rotary type inertial navigation system. The invention further relates to a special error self-compensation method of the single-shaft rotary type inertial navigation system. The single-shaft rotary type inertial navigation system comprises an indexing mechanism and a single-shaft rotary type inertial navigation system inertial measurement unit, wherein the single-shaft rotary type inertial navigation system inertial measurement unit is mounted on an inertial measurement unit mounting plane; the inertial measurement unit mounting plane and the indexing mechanism are connected together; coordinate axes of the single-shaft rotary type inertial navigation system inertial measurement unit are vertical to each other two by two; each coordinate axis is provided with a gyroscope and an accelerometer. According to the single-shaft rotary type inertial navigation system disclosed by the invention, real-time drifting estimation is implemented by adopting a manner of realizing an adjustable inclined angle of an IMU (Inertial Measurement Unit) mounting plane; the inclined angle can be dynamically readjusted at intervals, so as to further improve the compensation effect of the system; a previous process of recalibrating in a laboratory with a high-precision inertial navigation testing rotary table can be finished in field in a use process, and the guarantee and maintenance costs of an operation period of the inertial navigation system are greatly reduced.

Description

technical field [0001] The invention relates to a single-axis rotary inertial navigation system, and also relates to an error compensation method dedicated to the single-axis rotary inertial navigation system. Background technique [0002] The inertial navigation system is currently the most widely used fully autonomous navigation system, because it can achieve all the navigation information it needs by relying entirely on its own information, and its high privacy and reliability determine its pivotal position in the military . The inertial navigation system is mainly composed of inertial devices, gyroscopes and accelerometers. The accuracy of the inertial devices determines the accuracy of the entire inertial navigation system. The error of the inertial device is generally divided into two parts: the constant drift error and the random drift error. Usually, the error of the inertial device will gradually change with time. This will have a great impact on the accuracy of t...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C25/00
Inventor 高延滨管练武曾建辉王庭军刘施菲何昆鹏王福超郭凯文
Owner 哈尔滨工程大学科技园发展有限公司
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