Method for inhibiting error divergence in circling lifting motion of deep water compass system

A compass system and lifting motion technology, applied in the inertial field, can solve the problems of large influence of random noise, inability to provide position reference information, unavailability, etc., and achieve the effect of suppressing error divergence

Pending Publication Date: 2017-02-22
HEBEI HANGUANG HEAVY IND
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AI Technical Summary

Problems solved by technology

Generally, underwater equipment cannot provide position reference information, and the reliability of the speed information provided by Doppler during ascent and descent is not high or even unavailable, so only pure inertial calculation can be performed in this process
[0003] In the original discrete calibration technology, a scale factor value will be calculated by combining the output in the positive and negative directions. On the one hand, the asymmetry of the scale factor cannot be reflected. On the other hand, this calibration method is greatly affected by random noise. , the calibration accuracy also has a great relationship with the accuracy of the turntable
The original technology also uses the Kalman filter to estimate the asymmetry of the scale factor, but this technology does not solve the problem of large errors from the source

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0018] The present invention is described in detail below.

[0019] Step 1. Install the gyroscope to be tested on the deepwater compass system, select at least 3 gyroscopes to be tested, and install them on the X, Y and Z axes of the deepwater compass system respectively; then install the deepwater compass system on the three-axis turntable, Because the gyroscope has not been temperature compensated, the device has not reached thermal equilibrium when it is first powered on. Before the test, it should be powered on and preheated for 4 hours to reach thermal equilibrium. time to determine;

[0020] Step 2. Set the turntable to incremental mode, control the turntable to rotate forward and backward around the Z axis at an angular velocity of 1° / s, and record the data output by the gyroscope respectively; then set the turntable to positioning mode, control the turntable not to rotate , to record the static data output by the gyroscope with the same length of time as forward and r...

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Abstract

The invention discloses a method for inhibiting error divergence in the circling lifting motion of a deep water compass system. A three-shaft system gyroscope of the deep water compass system is tested at different angular velocities, and the data are acquired; and the rotational angular velocity of the earth is coupled to an output quantity of the gyroscope regardless of forward rotation or reverse rotation, and therefore, the sum of increment outputs of forward rotation and reverse rotation of the gyroscope is used to access the corresponding index, the corresponding increment produced by the coupled rotational angular velocity of the earth is deducted and then added to obtain a difference value of forward rotation and reverse rotation, and the gyroscope with the minimum difference value is chosen and installed on a shaft system subjected to rotational motion, so that the error divergence in the circling lifting motion of the deep water compass system is effectively inhibited.

Description

technical field [0001] The invention belongs to the technical field of inertia, and in particular relates to a method for suppressing error divergence when a deep-water compass system is hovering and lifting. Background technique [0002] The deepwater compass system can provide navigation information such as position, velocity and attitude for underwater equipment. Generally, underwater equipment cannot provide position reference information, and the reliability of the speed information provided by Doppler during ascent and descent is not high or even available, so only pure inertial calculation can be performed in this process. [0003] In the original discrete calibration technology, a scale factor value will be calculated by combining the output in the positive and negative directions. On the one hand, the asymmetry of the scale factor cannot be reflected. On the other hand, this calibration method is greatly affected by random noise. , the calibration accuracy also has...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 戴春江可伟马西保
Owner HEBEI HANGUANG HEAVY IND
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