Gyroscope error calibration method

An error calibration and gyroscope technology, applied in the field of inertial navigation, can solve the problems of complex indexing relationship, inaccurate results, weak angular velocity information, etc.

Active Publication Date: 2014-07-23
SUZHOU GST INFOMATION TECH CO LTD
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Problems solved by technology

Although this method is simple in principle, the angular velocity information sensitive to the gyroscope is weak or even covered by noise due to the small components of the earth's self-propagating angular velocity info

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  • Gyroscope error calibration method
  • Gyroscope error calibration method
  • Gyroscope error calibration method

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Embodiment Construction

[0034] The present invention will be further described below in conjunction with accompanying drawing:

[0035] The principle of the present invention is: a method for quickly calibrating the gyroscope error is based on multi-position rotation, by controlling the coincidence of the IMU coordinate system and the inertial coordinate system, so that the three axes of the IMU coordinate system regularly orbit the inertial coordinate system Rotate, take the average value of the periodical integration of the output value of the gyroscope to eliminate the influence of system noise on the calibration result, and then use the algebraic operation between the output values ​​of the gyroscope when each axis rotates to quickly calibrate the error parameters of the device.

[0036] (1) Install the strapdown inertial navigation system on the indexing mechanism. The three rotation axes of the indexing mechanism are respectively along the right-front-up direction of the carrier. After the syste...

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Abstract

The invention belongs to the technical field of inertial navigation, and particularly relates to a gyroscope error calibration method for rapidly calibrating all the error parameter values of a gyroscope by using output values of a system measurement assembly during uniform speed rotation relative to an inertial space. The method comprises that: a strapdown inertial navigation system is arranged on a position change mechanism, the three rotation shafts of the position change mechanism are respectively arranged along the right direction, the front direction and the upper direction of a carrier, aligning is performed after the system is subjected to start-up pre-heating to obtain an initial strapdown attitude matrix, the attitude angle of an IMU coordinate system relative to an inertial coordinate system at the initial time is measured, and the position change mechanism is controlled to drive the IMU to successively rotate according to the measured attitude angles, such that the IMU coordinate system coincides with the inertial coordinate system. According to the present invention, the influence of the high frequency noise in the system can be eliminated, and the IMU rotates relative to the inertial coordinate system so as to make the output signal of the gyroscope be amplified and make the interference resistance strong; and the method has characteristics of simple position change sequence, simple calculation, effective gyroscope calibration speed improvement, and effective gyroscope calibration precision increase.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and in particular relates to a gyroscope error calibration method for quickly calibrating all error parameter values ​​of the gyroscope by utilizing the output value of a system measurement component when it rotates at a constant speed relative to an inertial space. Background technique [0002] With the development of fiber optic gyro strapdown inertial navigation system (Strapdown Inertial Navigation System, SINS) technology, people have higher and higher requirements for the accuracy of device performance indicators. At the same time, in order to reduce the cost of the system, it is necessary to adopt effective system technology. The device error is calibrated and compensated, thereby improving the accuracy of the entire fiber optic gyro strapdown inertial navigation system. [0003] The calibration technology is mainly to determine the basic error model parameters of the inertial ...

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 于飞阮双双奔粤阳赵维珩杨晓龙李敬春
Owner SUZHOU GST INFOMATION TECH CO LTD
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