Triaxial accelerometer calibration method based on cross in inertial navigation system

An inertial navigation system, axis acceleration technology, applied in the direction of speed/acceleration/shock measurement, speed/acceleration/shock measurement equipment testing/calibration, measurement device, etc.

Inactive Publication Date: 2016-08-10
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

Literature [1] proposes to calibrate the actual value of the accelerometer by the six-position method, which cannot avoid the error caused by the change of the scale factor; literature [2] uses the six-position method to calibrate the actual value of the three-axis acceleromet...

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  • Triaxial accelerometer calibration method based on cross in inertial navigation system
  • Triaxial accelerometer calibration method based on cross in inertial navigation system
  • Triaxial accelerometer calibration method based on cross in inertial navigation system

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Embodiment Construction

[0046] The present invention will be further explained below in conjunction with the drawings:

[0047] Such as figure 1 As shown, a method for calibrating a three-axis accelerometer based on a cross, the steps are as follows:

[0048] (1) First determine a water platform 1, which is a platform parallel to the ground plane 0, characterized in that: any platform surface parallel to the ground plane can be used as a water platform;

[0049] (2) Make a cross mark 2 at any position on the surface of the water platform. The cross mark is any two signs 21 and 22 that are perpendicular to each other. The cross mark is at any position in the water platform 1 and is not bound by direction;

[0050] (3) Place the horizontal axis 31 of the inertial measurement unit 3 upwards perpendicular to the horizontal platform 1, and the vertical axis 32 coincides with one of the lines 21 or 22 of the cross fork 2, and collect some raw data of the acceleration 4, which does not affect the calibration accura...

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Abstract

The present invention claims to protect a three-axis accelerometer calibration method based on a cross in an inertial navigation system. This method is realized by making a cross mark on a horizontal platform. The horizontal platform is any platform parallel to the ground plane. The cross is any two signs perpendicular to each other; the original value of the accelerometer is the processing object, and the original value is not divided by the value of the scale factor; the original value of the accelerometer at the six positions is filtered, and the six The position is six positions with the cross as a reference; and the filtered original value is temperature compensated by the least square method; then the average value of the temperature compensated original value is taken as the original value corresponding to the six positions; finally through the acceleration The calibration coefficient of the error calibration model can be obtained by using the formula for obtaining the calibration coefficient of the meter. The method can overcome the problems of calibration error caused by unfixed scale factor, complex calibration process, temperature drift and long calibration period.

Description

Technical field [0001] The invention belongs to a method for calibrating a three-axis accelerometer based on a cross, in particular to a method for calibrating an accelerometer in an inertial navigation system. Background technique [0002] In an inertial navigation system, the measurement accuracy of the accelerometer is affected by the installation error, zero offset and scale factor, which limits its application range. Therefore, it is necessary to calibrate the accelerometer. Calibration methods include: traditional six-position method, accelerometer calibration method based on rocket skid test, accelerometer calibration method based on Beidou second-generation velocity information, and accelerometer calibration method based on iterative calculations. The traditional six-position method is to calibrate the actual value of the accelerometer (that is, the value except for the scale factor). The principle is simple and the operation is convenient. However, in practical applicati...

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Application Information

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IPC IPC(8): G01P21/00
CPCG01P21/00
Inventor 刘宇向高林路永乐李云梅刘期烈曹阳王伊冰龚大伟谷庆华
Owner CHONGQING UNIV OF POSTS & TELECOMM
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