Method for calibrating gyro errors online based on star light information assistance in inertial system

Abstract

The invention discloses a method for calibrating gyro errors online based on star light information assistance in an inertial system, comprising: first, establishing a gyro error model, including a gyro installation error model, a scale factor error model and a random drift error model; then, expanding gyro errors to system state variables, and establishing a combined inertial / start light navigation Kalman filtering state equation and a measurement equation in the inertial system; finally, subjecting the gyro errors to online calibration and real-time correction during dynamic flight of an aerial vehicle to obtain inertial navigation system navigation results with the gyro errors corrected. The method enables effective utilization of star sensor high-precision altitude information during dynamic flight of an aerial vehicle so as to provide online calibration and correction of the gyro errors, improving the performance of the inertial navigation system and adapting to engineering application.

Description

technical field [0001] The invention relates to an online calibration method for gyroscope errors based on starlight information in an inertial system, and belongs to the technical field of inertial navigation inertial sensor error calibration. Background technique [0002] In recent years, with the development of high-speed and high-mobility aircraft such as hypersonic vehicles and aerospace vehicles, higher requirements have been placed on the performance of navigation systems. The inertial navigation system has outstanding advantages such as high short-term accuracy, continuous output, and complete autonomy, and will become an important information unit of the navigation system of future advanced and aerospace vehicles. [0003] The error of the inertial navigation system is mainly caused by the measurement error of the inertial sensor (IMU-accelerometer and gyroscope). Due to the high measurement accuracy of the accelerometer, the gyroscope error becomes the main factor ...

AI Technical Summary

Problems solved by technology

However, the navigation information output by the inertial navigation system with the geographic system as the reference system is inconsistent with the starlight information reference coordinate system. The traditional method is to convert the attitude information output by the star sensor relative to the inertial coordinate system into the attitude information under the geographic coordinate system. , and then combined with the attitude information output by the inertial navigation system. This conversion process is coupled with the navigation error caused by the error of the inertial device, and cannot fully exert the error correction effect of the starlight high-precision attitude.

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