Field calibration method of optical fiber strapdown inertial navigation system based on Kalman filtering

An optical fiber strapdown inertial navigation and Kalman filter technology, applied in the inertial field, can solve problems such as difficulty, and achieve the effect of improving the accuracy of use

Active Publication Date: 2014-06-11
BEIHANG UNIV
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  • Application Information

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Problems solved by technology

However, this method needs to provide high-precision attitude measurement auxiliary devices on site, accurately measure the attitude angle of the carrier in real time, and keep in sync with the output value of the fiber optic gyroscope, which is very difficult for practical application

Method used

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  • Field calibration method of optical fiber strapdown inertial navigation system based on Kalman filtering
  • Field calibration method of optical fiber strapdown inertial navigation system based on Kalman filtering
  • Field calibration method of optical fiber strapdown inertial navigation system based on Kalman filtering

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Experimental program
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Embodiment

[0085] The first step: select a certain type of fiber optic strapdown inertial navigation system, which has been preliminarily calibrated through position experiments and velocity experiments on a precision two-axis turntable in the laboratory three months ago.

[0086] Step 2: Install the optical fiber strapdown inertial navigation system on the hexahedron device through tooling and lock it. Connect the cables between the optical fiber strapdown inertial navigation system, power supply, and acquisition computer, and check for correctness.

[0087] Step 3: Place the hexahedron device on a stable table, power on and preheat the fiber optic strapdown inertial navigation system to reach a thermal equilibrium state, and bind the initial position parameters of the fiber optic strapdown inertial navigation system, including the initial longitude, latitude and altitude.

[0088] Step 4: Adjust the hexahedron device so that the initial orientation of the XYZ axes of the fiber optic st...

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Abstract

The invention discloses a field calibration method of an optical fiber strapdown inertial navigation system based on Kalman filtering, belonging to the technical field of inertia. The method comprises the steps that an optical fiber strapdown inertial navigation system is installed on a fixed device by a tool, is electrified for preheating, and is aligned statically and initially, and then, the fixed device is turned manually so as to turn over sequentially for 12 times; each position is static for 3-5 minutes before and after turnover, and Kalman filtering correction is carried out; an optical fiber gyroscope and output of an accelerometer of the optical fiber strapdown inertial navigation system are subjected to error compensation according to the inertial device error parameter estimation value obtained after the Kalman filtering correction for the last time is finished. The fixed device is preferably regular hexahedron. The method disclosed by the invention can be used for calibrating 21 error parameters of the optical fiber strapdown inertial navigation system on the field, overcomes the calibration defects of a traditional laboratory, and improves the actual using precision of the system.

Description

technical field [0001] The invention belongs to the technical field of inertia, and relates to an on-site calibration method of an optical fiber strapdown inertial navigation system, which can calibrate various error parameters of an optical fiber gyroscope and an accelerometer without a turntable and a geographic reference on site. Background technique [0002] Fiber optic gyro has the advantages of all-solid-state structure, fast start-up speed, wide dynamic range, anti-vibration shock and low cost, and has become an important development direction of inertial devices. In recent years, the rapid development of fiber optic gyro technology has promoted the application of fiber optic strapdown inertial navigation systems in aerospace, navigation and military fields. The error source of the optical fiber strapdown inertial navigation system mainly comes from the inertial device, and most of the errors can be compensated by calibration technology. At present, the most widely u...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/00G01C25/005
Inventor 李保国芦佳振张海宏吴孟
Owner BEIHANG UNIV
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