Multisource-integrated-navigation-system distributed inertia node total-error on-line calibration method

Abstract

The invention discloses a multisource-integrated-navigation-system distributed inertia node total-error on-line calibration method, and belongs to the technical field of distributed inertia node system error calibration. The method comprises firstly calibrating node error, then calibrating sub-node error, calculating host-node error parameter by employing an inertial sensor measuring error model containing installation error, scale factor error and random constant error, performing on-line estimation on the host-node error parameter by employing a high-order filter, then performing error compensation on a host-node output value, then converting the position relation between the host- and sub-node installation systems into a sub-node output estimated value, and calibrating the sub-node accelerometer error after the sub-node gyro error is calibrated because sub-node accelerometer outputting is related to the sub-node angular velocity when sub-node calibration is performed. A distributed IMU on-line calibration scheme is provided.

Description

technical field [0001] The invention discloses an online calibration method for full error of distributed inertial nodes in a multi-source integrated navigation system, and belongs to the technical field of system error calibration of distributed inertial nodes. Background technique [0002] Inertial sensor networks, see ref. <inertialsensortechnologytrends>(BarbourN,SchmidtG.SensorsJournal,IEEE,2001,1(4):332-339.), is a new type of application based on distributed inertial sensors, integrating network topology, inertial devices, inertial navigation, Kalman filtering and other technologies , see the literature "MEMS and navigation grade MEMS inertial sensors" (Wang Yifeng. Flying Missile, 2008 (8).), the literature <Principles of GNSS, inertial, and multisensor integrated navigation systems> (GrovesPD.2013.). The inertial sensors (gyroscopes and accelerometers) in the inertial sensor network are distributed in different positions of the aircraft, providing conti...

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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to aim at the deficiency of the above-mentioned background technology, provide a multi-source integrated navigation system distributed inertial node full-error online calibration method, realize the online calibration of the distributed IMU, and solve the same assumption distribution as the traditional calibration method. The type inertial sensor is installed at the center of mass of the aircraft, and the main navigation system installed at the center of mass provides the reference information of each position of the full carrier, which cannot accurately reflect the actual situation of each position.

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