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

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...

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