Calibration method for installation error angles between dual-shaft rotation inertial navigation system's rotating shafts and sensitive shafts

A technology of installation error angle and dual-axis rotation, which is applied in the field of inertial navigation calibration, can solve the problems that the gyro sensitive axis and the outer ring rotation axis do not coincide, affect the system attitude accuracy, and cannot strictly guarantee the coincidence of the gyro sensitivity axis and the rotation axis, etc.

CN104121926AActive Publication Date: 2014-10-29BEIJING AUTOMATION CONTROL EQUIP INST
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2014-10-29

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Abstract

Belonging to inertial navigation calibration methods, the invention in particular relates to a calibration method for installation error angles between a dual-shaft rotation inertial navigation system's rotating shafts and sensitive shafts. According to the method, four installation error angles delta theta M1, delta gamma M1, delta psi M2, and delta gamma M2 are calibrated, and then compensation is conducted to complete demodulation work of dual-shaft rotation inertial navigation. The specific steps include: 1. calibration and compensation of the inner ring error angles delta theta M1 and delta gamma M1; and 2. calibration and compensation of the inner ring error angles delta psi M2 and delta gamma M2. With the invention, by calibration of the installation error angles between the dual-shaft rotation inertial navigation system's rotating shafts and sensitive shafts, navigation attitude demodulation error caused by the installation error angles can be eliminated, and the navigation attitude precision of the system is improved.
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Description

technical field

[0001] The invention belongs to an inertial navigation calibration method, in particular to a calibration method for an installation error angle between a rotating shaft and a sensitive shaft of a dual-axis rotary inertial navigation system. Background technique

[0002] The rotary modulation technology is an automatic compensation technology for the inertial device error of the inertial navigation system, which can significantly improve the system navigation accuracy on the basis of the existing inertial device level. The rotary inertial navigation system often uses the rotary mechanism to drive the optical strapdown inertial unit (IMU) to continuously rotate or index, modulate the zero offset of the inertial device perpendicular to the rotation axis, and use the code disc on the rotary mechanism to measure the rotation angle. The attitude of the IMU body coordinate system is demodulated in real time, so as to obtain the attitude in the demodulated vehicle c...

Examples

Embodiment Construction

[0030] The present invention is described in detail below in conjunction with specific embodiment:

[0031] The invention proposes a method for calibrating the installation error angle between the rotating shaft and the sensitive shaft of the dual-axis rotary inertial navigation system. Through the calibrating method, it is possible to calibrate the inside and outside of the two rotating shafts inside and outside the dual-axis rotary inertial navigation system and the sensitive shaft. Two installation error angles, after the calibration is completed, the attitude demodulation error caused by the installation error angle is eliminated, and the attitude accuracy of the system is improved.

[0032] There are two types of inner and outer rings in the dual-axis rotary inertial navigation system. One is that the inner ring axis is the yaw axis, and the other is that the outer ring axis is the yaw axis. To facilitate the description of the method, one is assumed here: assuming that t...