Online adaptive calibration method for inertial sensor errors of aerospace vehicle

Abstract

The invention discloses an online adaptive calibration method for inertial sensor errors of an aerospace vehicle. The method comprises the following steps: establishing an error of an inertial sensor in the high dynamic flight process of the aerospace vehicle, wherein the errors comprise an installation error, a calibration factor error and a random constant value error; establishing a high-order online calibration filter state equation comprising error parameters of the inertial sensor and a measurement equation; and finally, performing online adaptive calibration and real-time compensation on the errors of the inertial sensor in the high dynamic flight process of the aerospace vehicle, thereby obtaining the navigation result of the inertial navigation system subjected to error compensation correction of the inertial sensor. According to the method, the real-time calibration and compensation of the installation error, the calibration factor error and the random constant value error of the inertial sensor of the inertial navigation system can be realized in the high dynamic flight process of the aerospace vehicle, the performance of the inertial navigation system in an aerospace flight environment is effectively improved, and the method is applied to engineering application.

Description

technical field [0001] The invention discloses an online self-adaptive calibration method for inertial sensor errors of aerospace vehicles, and belongs to the technical field of inertial navigation inertial sensor error calibration. Background technique [0002] Aerospace vehicle is a new type of reusable aircraft that integrates aircraft, spacecraft and carrier. It combines the advantages of aviation and spaceflight. It has been recognized by various developed countries for its great civilian value and strategic military application value. Pay attention to. During the entire flight process of an aerospace vehicle from takeoff to landing, it has to go through five stages: takeoff, acceleration into orbit, orbital residence, flexible orbital change, and high-speed reentry. This complex movement characteristic requires its navigation system to have multi-task, Multi-working modes, reliable and high-precision working capabilities under large airspace maneuvers, to meet the dif...

AI Technical Summary

Problems solved by technology

During the high dynamic flight of the aerospace vehicle, the deformation of the body due to the influence of flight mode switching and strong vibration shock and airflow disturbance during the high dynamic flight will cause the axis of the inertial sensor to not completely coincide with the axis of the body, which will lead to installation errors. and scale factor errors increase significantly; long-endurance cruise flight will also cause the random constant error of the inertial sensor to deviate from the initial calibration value with the increase of time

If these errors cannot be calibrated and compensated online during the high dynamic flight of the aerospace vehicle, it will greatly affect the navigation accuracy

[0004] Most of the online calibration of inertial sensor errors uses Kalman filter to estimate the error parameters in real time, but the traditional Kalman filter requires the statistical characteristics of system noise and measurement noise to be accurately known

Due to the multi-task, multi-working mode, and large-scale high-speed maneuvering characteristics of aerospace vehicles, the statistical characteristics of system noise and measurement noise will be affected by the flight mode and environment, and cannot be completely known. The traditional Kalman filter calibration method will no longer applicable

Images