A system-level calibration method for redundant inertial navigation system accelerometers based on velocity observation

Abstract

The invention discloses a speed observation-based redundant inertial navigation system accelerometer system level calibration method. The method comprises the following steps of 1, mounting inertial navigation equipment on a rotating table, and determining an initial position parameter of a carrying body; 2, determining mounting relation between accelerometer axial direction and an inertial navigation body coordinate system; 3, pre-heating the inertial navigation equipment, acquiring output data of an accelerometer and precisely calibrating; 4, stabilizing the inertial navigation equipment at the east, north and up position, and correcting a calibration parameter for the first time; 5, rotating the inertial navigation equipment around an X axis for 90 degrees until the inertial navigation equipment is stabilized at the east, up and south position, and correcting the calibration parameter for the second time; 6, rotating the inertial navigation equipment around a Z axis for 90 degrees until the inertial navigation equipment is stabilized at the up, west and south position, and correcting the calibration parameter for the third time; 7, rotating the inertial navigation equipment around a Y axis for -90 degrees until the inertial navigation equipment is stabilized at the south, west and down position, and correcting the calibration parameter for the fourth time; 8, rotating the inertial navigation equipment around the X axis for 180 degrees until the inertial navigation equipment is stabilized at the south, east and up position, and correcting the calibration parameter for the fifth time; 9, correcting the parameter calibrated for the fifth time to obtain high-precision calibration parameter zero-offset, scale factor and misalignment angle results of the inclined accelerometer.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, in particular to a system-level calibration method for an accelerometer of a redundant inertial navigation system based on speed observation. Background technique [0002] Inertial technology is a comprehensive technology involving multiple disciplines. It is a general term for inertial navigation and inertial guidance technology, inertial instrument technology, inertial measurement technology, and related systems and device technologies. The inertial navigation system relies on its own inertial sensitive components and does not rely on any external information to measure navigation parameters. Therefore, it is not subject to natural or artificial interference and has good concealment. It is a completely autonomous navigation system. [0003] The calibration of the inertial navigation system is the process of determining a set of parameters to make the output of the inertial navigatio...

AI Technical Summary

Problems solved by technology

In a redundant system or a specific occasion (such as a navigation system composed of pure accelerometers, etc.), the accelerometer is not necessarily installed orthogonally according to the Cartesian coordinate system, but a specific oblique installation method is used to meet specific needs. , Improve system reliability and accuracy. Traditional calibration methods are relatively cumbersome, low-precision or even no longer applicable. Therefore, there is a major demand for high-precision system-level calibration methods for oblique accelerometers

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