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Orthogonal compensation method for triaxial attitude measurement system non-orthogonal error

A measurement system and non-orthogonal technology, applied in the direction of measuring devices, surveying and navigation, instruments, etc., can solve the problems of reducing the accuracy of calibration compensation, incompleteness, and unrigorous prerequisites, so as to reduce non-orthogonality and The effect of its error and high-precision attitude parameters

Active Publication Date: 2014-02-19
XI'AN PETROLEUM UNIVERSITY
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Problems solved by technology

The above types of errors include systematic errors and random errors, and their processing methods are different. It is obviously difficult for a unified model to satisfy the correction of two types of errors with completely different properties.
[0006] Some literatures use the least squares method, conjugate gradient method, maximum likelihood method, Kalman filter, neural network, parameter estimation, differential evolution and other algorithms, as well as their improved algorithms, to process the attitude measurement results, and these algorithms are mainly suitable for The treatment of random errors is difficult to deal with systematic errors
[0007] Some literatures have independently modeled the position / displacement, pointing / orientation, and installation errors of the attitude sensor, and given the relative error angles of each axis, but there are also defects, such as assuming that the geographic coordinate system S axis and the instrument coordinate system are initially The Z axis coincides, which itself ignores the misalignment error of these two axes, which is obviously not comprehensive
[0008] There are also literatures that use various methods to decouple and correct the non-orthogonality of the three axes, that is, to orthogonalize the measurement results. Method error, reducing the calibration compensation accuracy

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Embodiment Construction

[0025] The implementation of the present invention will be described in detail below in conjunction with the drawings and examples.

[0026] Firstly, the basic knowledge of attitude measurement is introduced by taking the accelerometer sensor in the NWT coordinate system as an example.

[0027] Establish the initial instrument coordinate system (OXYZ coordinate system) in the ideal geographic coordinate system (North West Sky ONWS coordinate system). The two coordinate systems coincide initially, the N axis points north along the local meridian, the W axis points west along the local latitude, the S axis points to the sky along the local vertical line, the NW plane is the local horizontal plane, and the NS plane is the local meridian plane. Define the azimuth A as the angle of the instrument rotating from geographic north to the projection of the instrument axis on the horizontal plane, the inclination angle I as the angle (acute angle) between the instrument axis and the grav...

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Abstract

The invention discloses an orthogonal compensation method for triaxial attitude measurement sensor non-orthogonal error. The method comprises: establishing respective independent virtual orthogonal instrument coordinate system for each measure real axis to obtain respective rotation matrix, performing fusing to obtain a triaxial non-orthogonal rotation matrix, so as to obtain an accurate non-orthogonal error model by virtual orthogonal modeling; then acquiring a compensation matrix by measure value and theory value of special positions, performing orghogonal decoupling on a measure result of a triaxial sensor so as to reduce non-orthogonality and measure error caused thereby and improve attitude measurement accuracy.

Description

technical field [0001] The invention is applied to navigation, guidance and control engineering, belongs to the technical field of precision measuring instruments, and particularly relates to an orthogonal compensation method for non-orthogonal errors of a three-axis attitude measurement system. Background technique [0002] Attitude measurement and control are widely used in national defense, military, industrial, agricultural and commercial fields, and reducing measurement errors is an important technical means to improve the accuracy of attitude measurement. From the nature of errors, there are systematic errors, random errors and bad errors. The bad difference obviously distorts the measurement results and is not discussed here. Random errors obey statistical laws and are generally caused by uncertain factors, such as changes in electromagnetic fields, friction and gaps between parts, thermal fluctuations, air disturbances, air pressure, temperature and humidity, and se...

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Application Information

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IPC IPC(8): G01C21/00
CPCG01C21/20G01C25/00
Inventor 程为彬潘萌汤楠汪跃龙霍爱清
Owner XI'AN PETROLEUM UNIVERSITY
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