Inclined-configuration inertial navigation system calibration method

A technology of inertial navigation system and calibration method, which is applied to measuring devices, instruments, etc., and can solve problems such as difficulties in calibration of inertial measurement devices

Active Publication Date: 2016-01-13
BEIJING AUTOMATION CONTROL EQUIP INST
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Problems solved by technology

However, this installation method brings difficulties to the calibration of the inertial measurement device

Method used

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  • Inclined-configuration inertial navigation system calibration method
  • Inclined-configuration inertial navigation system calibration method
  • Inclined-configuration inertial navigation system calibration method

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Embodiment Construction

[0073] The technical solutions of the present invention will be described in detail below in conjunction with specific embodiments.

[0074] A method for calibrating an inertial navigation system in an oblique configuration, specifically comprising the following steps:

[0075] 1. Configure the gyroscope and accelerometer of the inertial navigation system

[0076] Set the three non-orthogonal gyroscopes of the inertial navigation system as G 1 , G 2 , G 3 , the three orthogonal projectile axes are OX b , OY b , OZ b ;The three input axes OG of the gyroscope 1 , OG 2 , OG 3 Uniformly distributed in +OY b Centered, with +OY b On the conical surface whose axis angle is α, the two input axes of adjacent gyroscopes are in OX b Z b The projection angle in the plane is 120°, where OG 1 in ox b Z b In-plane projection with +OX b coincide;

[0077] The three non-orthogonal accelerometers are A 1 、A 2 、A 3 , the three input axes OA of the accelerometer 1 , OA 2 , O...

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Abstract

The invention belongs to the technical field of navigation and relates to a calibration method of an inertial navigation system with an inclined sensitive shaft. In the technical scheme, a normalized orthogonal method is employed to convert an inclined gyroscope and an inclined accelerometer sensitive shaft onto a projectile axis through a direction cosine matrix, so that a virtual gyroscope coordinate system and an accelerometer coordinate system and the real projectile coordinate system coincide together, thereby solving a problem of parameter identification of the inertial navigation system with the inclined sensitive shaft.

Description

technical field [0001] The invention belongs to the technical field of navigation and relates to a calibration method of an inertial navigation system with a sensitive axis tilted. Background technique [0002] Strapdown inertial navigation systems usually use redundancy technology to improve system reliability and accuracy, and inertial sensitive devices are mostly configured with tilt. For the non-redundant inertial navigation system, the sensitive components can also be placed obliquely, which has the advantage of expanding the angular velocity and acceleration measurement range of the three axes of the carrier and saving the installation space of the inertial components. However, this installation method brings difficulties to the calibration of the inertial measurement device. The conventional calibration method requires the inertial device to be installed along the orthogonal carrier coordinate system, and the parameters of the inertial device are identified through t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
Inventor 王迪
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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