A multi-position autonomous calibration method for a dual-axis rotary inertial navigation system
An inertial navigation system, dual-axis rotation technology, applied in measurement devices, instruments, etc., can solve problems such as poor operability, high cost, and repeatability errors
Active Publication Date: 2017-02-08
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
At present, most of the calibration of inertial measurement unit (IMU) is based on high-precision turntable, and the inertial navigation system needs to be dismantled and sent to the laboratory. Although this method can guarantee a certain accuracy, it has poor operability, high cost and repeatability. Error and other issues
In addition, the error of the inertial device is not fixed. As time goes by, the previously calibrated error value can no longer be used and needs to be re-calibrated, which is not conducive to the use of long-endurance navigation systems.
[0003] Since the dual-axis rotary inertial navigation system has two gimbals, it can be calibrated independently without the help of a turntable. There are obstacles in the dual-axis rotating inertial navigation system, and a new autonomous calibration method needs to be designed
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[0044] The present invention will be further described below in conjunction with the drawings and specific embodiments.
[0045] The present invention designs a ten-position transposition method, and solves the problem of no accurate initial attitude reference by using the device error to represent the initial misalignment angle, by performing Laplace transform and Laplace inverse transform on the attitude error equation, and then The method of integrating the velocity error equation avoids differentiating the observed quantities, thereby reducing the influence of noise.
[0046] The self-calibration method of the present invention will be described in detail below.
[0047] First define the coordinate system:
[0048] Navigation coordinate system O n x n Y n Z n For: the center is at the center of the inertial measurement unit (IMU), and the three axes X n , Y n ,Z n They are consistent with the directions of east, north and sky respectively;
[0049] Carrier coordin...
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The invention provides an on-line multi-position self-calibration method for a biaxial rotating inertial navigation system, which avoids regular demounting of system components, and can improve independence of navigation during long endurance. The method comprises the following steps: step 1, establishing a device error model and a navigation error equation of the biaxial rotating inertial navigation system; step 2, preheating a gyroscope and an accelerometer component, and carrying out fine alignment on each single position based on Kalman filtering; step 3, rotating a carrier according to a fine alignment result, and adjusting the position of the carrier to enable the carrier to coincide with a navigation coordinate system almost; step 4, rotating a ring stand according to a ten-position transposition method, collecting speed error obtained by navigation calculation in each position and calculating attitude error variation to obtain observed quantity; and step 5, according to the navigation result of each position, calculating with least square to obtain error needing to be calibrated.
Description
technical field [0001] The invention relates to a device error autonomous calibration method in the technical field of rotation modulation strapdown inertial navigation. Background technique [0002] The rotary modulation technology used in the rotary inertial navigation system can improve the long-duration navigation accuracy of the navigation system, but in actual system applications, the navigation accuracy is still affected by the accuracy of the inertial devices, and the inertial devices need to be calibrated before use. At present, most of the calibration of inertial measurement unit (IMU) is based on high-precision turntable, and the inertial navigation system needs to be dismantled and sent to the laboratory. Although this method can guarantee a certain accuracy, it has poor operability, high cost and repeatability. errors etc. In addition, the error of the inertial device is not fixed. As time goes by, the previously calibrated error value can no longer be used and...
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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 付梦印邓志红王博任乾
Owner BEIJING INSTITUTE OF TECHNOLOGYGY