Uniaxial modulation laser gyroscope inertial navigation system multi-coordinate system calibration method

Abstract

The invention discloses a uniaxial modulation laser gyroscope inertial navigation system multi-coordinate system calibration method. The method comprises powering on a system so that the system is a preparation stage, determining an IMU installation base level attitude, recording navigation original data, reading the original data and carrying out attitude conversion Euler angle calculation by calibration software, carrying out marble calibration, carrying out azimuth mirror calibration preparation, determining an inertial navigation base plane and an azimuth mirror normal direction, recording navigation original data, reading the original data and carrying out attitude conversion Euler angle calculation by the calibration software, and carrying out azimuth mirror calibration. Through marble calibration, the problem that the traditional method needs a complex calibration process for guaranteeing an attitude precision after IMU replacement is solved. Through azimuth mirror calibration, the unification of an inertial navigation system coordinate system, a base plane and an azimuth mirror coordinate system is realized and follow-up production is convenient.

Description

technical field [0001] The invention belongs to the technical field of single-axis modulation laser inertial navigation, and in particular relates to a multi-coordinate system calibration method of a single-axis modulation laser gyro inertial navigation system. Background technique [0002] The inertial navigation system uses inertial sensitive elements to measure the linear motion and angular motion parameters of the carrier relative to the inertial space. Under the given initial conditions of motion, according to Newton's law of motion, the instantaneous velocity and position of the carrier can be calculated, and the attitude of the carrier can generally be obtained. information. [0003] Inertial navigation system belongs to autonomous navigation and has many advantages that other navigation systems do not have. In the navigation process, it does not need to rely on any external information, but only relies on its own gyroscope and accelerometer, two inertial instruments,...

AI Technical Summary

Problems solved by technology

It takes a long time to calibrate the replaced IMU using traditional optical methods

Due to the harsh environment on board, the small space, and the rocking state of the ship, it is extremely difficult to calibrate the coordinate system on the ship after reinstalling the IMU, resulting in the failure of the inertial device to resume work in time and affecting the normal use of the equipment.

Images