Method for calibrating inner lever arm of accelerometer of fiber-optic gyroscope strapdown inertial navigation system

Abstract

The invention discloses a method for calibrating an inner lever arm of an accelerometer of a fiber-optic gyroscope strapdown inertial navigation system. The method comprises the following steps: putting fiber-optic gyroscope inertial navigation equipment on a rotary table, and finishing initial configuration of the rotary table; testing whether a cable is communicated or not, and ensuring normal data transmission; finishing initial alignment and discrete calibration experiment of the system to obtain static error parameter values of a gyroscope and an accelerometer; enabling the rotary table to move according to the calibration path design manner; finishing calibration experiment of the inner lever arm through data collection of the gyroscope and the accelerometer; processing the data which is obtained by the inner lever arm calibration experiment; building a kalman filter by employing a linear velocity error of the system as observed quantity; selecting a proper filtering initial value; and carrying out kalman filtering on the system according to a fundamental equation of kalman filtering, so as to obtain a convergent inner lever arm parameter value. According to the method disclosed by the invention, the kalman filtering time is greatly shortened; the efficiency is improved and the method has high practicability.

Description

technical field [0001] The invention belongs to the field of inertial navigation, and in particular relates to a method for calibrating an inner lever arm of an accelerometer of an optical fiber gyro strapdown inertial navigation system, which is calibrated by using a Kalman filter equation. Background technique [0002] The strapdown inertial system is to connect the inertial measurement unit (accelerometer and gyroscope) to the carrier. The gyroscope and the accelerometer respectively measure the rotational angular velocity of the carrier relative to the inertial space and the components of the linear acceleration along the carrier coordinate system. After coordinate transformation and Integral calculation to obtain information such as the position, speed, and attitude of the vehicle. It can be said that the accelerometer and gyroscope are the most important and basic components of the strapdown inertial navigation system. [0003] At present, in order to improve the accu...

AI Technical Summary

Problems solved by technology

However, increasing the precision of the inertial instrument by simply improving the design of the instrument encounters more and more difficulties in processing, manufacturing, assembly and debugging, and the cost is also increasing

Images