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Inertial measurement unit calibration method applicable to low-accuracy no-azimuth-reference single-axis transposition equipment

A technology of inertial measurement unit and calibration method, which is applied to navigation, measurement devices, instruments, etc. through velocity/acceleration measurement, and can solve problems such as undiscovered alignment-free single-axis system-level calibration algorithms

Active Publication Date: 2014-10-29
THE GENERAL DESIGNING INST OF HUBEI SPACE TECH ACAD
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Problems solved by technology

There is no relevant information about the system-level calibration algorithm for the single-axis system without alignment

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  • Inertial measurement unit calibration method applicable to low-accuracy no-azimuth-reference single-axis transposition equipment
  • Inertial measurement unit calibration method applicable to low-accuracy no-azimuth-reference single-axis transposition equipment
  • Inertial measurement unit calibration method applicable to low-accuracy no-azimuth-reference single-axis transposition equipment

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[0173] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0174] The present invention provides an inertial measurement unit calibration method suitable for low-precision azimuth-free reference single-axis indexing equipment. The specific calibration steps are as follows:

[0175] Step 1: Install the inertial measurement unit on the single-axis indexing device. The initial position of the inertial measurement unit ensures that the X-axis faces up or down and the angle between the Y-axis direction and the east-west direction is 15-90°. Preferably, navigation The coordinate system is selected as the Beitiandong coordinate system; the inertial measurement unit starts to collect and output raw data after 30 minutes of power-on warm-up, the sampling period is 0.01s, and the calibration rotation sequence is shown in Table 1: the inertial measurement unit is first at the 0th position After standing still fo...

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Abstract

The invention discloses an inertial measurement unit calibration method applicable to low-accuracy no-azimuth-reference single-axis transposition equipment and belongs to the technical field of inertia. The method comprises the following steps: calibrating five rotatably-arranged positions by using the single-axis transposition equipment; then fitting out a first-order intermediate parameter deltag and a two-order intermediate parameter (shown in the specification) by speed errors and spatial attitude errors on all the positions; according to the intermediate parameter, error parameters and recent historical calibration parameters, calculating error parameters of all devices by adopting a least-square method; and in order to effectively remove positioning errors caused by a rotary platform, substituting the error parameters obtained from the former iterative calculation and output data of an original inertial measurement unit into a navigation equation, then carrying out resolving of observed quantities, middle parameters and the error parameter residuals once, and carrying out residual compensation on the error parameters till the error parameter residuals obtained by certain iterative calculation are less than threshold values. The calibration method disclosed by the invention has the advantages that the calibration cost and the independence on the accuracy of a rotary platform can be reduced, the calibration time can be shortened and the engineering practicability is good.

Description

technical field [0001] The invention belongs to the technical field of inertial measurement combined testing in aerospace strapdown inertial navigation technology, and in particular relates to an inertial measurement unit calibration method suitable for low-precision azimuth-free single-axis indexing equipment. Compared with the traditional calibration method, this calibration method is suitable for single-axis indexing equipment. It has low requirements on the reference accuracy of the indexing equipment and does not need north alignment. It can be used to calibrate some parameters of the inertial measurement combination. Background technique [0002] The strapdown inertial navigation system has the advantages of short response time, high reliability, small size, and light weight. It is widely used in military and civilian navigation fields such as aircraft, ships, and missiles. It has important national defense significance and huge economic benefits. [0003] The inertial...

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Application Information

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IPC IPC(8): G01C25/00G01C21/16
CPCG01C25/005
Inventor 刘明穆杰杨道安罗伟李丽
Owner THE GENERAL DESIGNING INST OF HUBEI SPACE TECH ACAD
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