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

A calibration method and inertial system technology, applied in the direction of measuring devices, instruments, etc., can solve problems such as the inability to give full play to the role of starlight high-precision attitude error correction

Active Publication Date: 2016-10-26
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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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 att

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

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specific Embodiment approach

[0053] 1. Establish a gyro error model

[0054] Gyroscope errors include deterministic errors and random drift errors caused by installation errors and scale factor errors. The gyroscope error model can be regarded as a linear model composed of various error sources that affect the gyroscope output. Then the angular rate of the gyroscope output is :

[0055] ω ~ i b b = ω i b b + ω m + ω k + ω b - - - ( 1 )

[0056] in, is the real angular velocity of the carrier, ω m , ω k are the gyro measurement errors caused by the gyro installation error and scale factor error re...

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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 ...

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 施丽娟熊智王融邢丽许建新戴怡洁殷德全闵艳玲孔雪博唐攀飞赵宣懿鲍雪黄欣万众
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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