An online calibration method for marine fiber optic strapdown inertial navigation system based on integrated navigation technology

Abstract

The invention discloses an integrated navigation technology-based online calibration method for a marine fiber-optic strapdown inertial navigation system. Online calibration is carried out on the fiber-optic strapdown inertial navigation system by adopting a matching mode of ''a position, a speed and a course angle'' according to the position, the speed and course information of a marine primary navigation system. Various parameter error values of an inertial device are estimated by adopting a one-step predicted value of a model predictive filtering correction state, and a measurement noise variance matrix is continuously estimated and corrected by adopting Sage-Huse adaptive extended kalman filtering, so that the filtering accuracy is improved and the online calibration is achieved. Information is output by using the primary navigation system, and various calibration parameters of an inertial measurement assembly are estimated online by using the corresponding filtering method, so that the online calibration problem of the inertial measurement assembly is solved, periodic removal and calibration of the fiber-optic strapdown inertial navigation system are avoided, the accuracy of the fiber-optic strapdown inertial navigation system is effectively improved and the online calibration method has outstanding application value.

Description

Technical field [0001] The invention belongs to the field of navigation technology, and in particular relates to an online calibration method of a ship's fiber optic strapdown inertial navigation system based on integrated navigation technology. Background technique [0002] In recent years, the marine industry has developed rapidly, and the requirements for the performance of the ship's strapdown inertial navigation system have become higher and higher. The error of the inertial measurement component accounts for about 90% of the system error, that is, the high precision of the inertial navigation system can be ensured only by ensuring the high precision of the inertial measurement component. The performance index of the inertial system is reduced, resulting in the inability to meet the accuracy requirements of navigation, so various methods must be used to improve the accuracy. [0003] At present, improving the accuracy of inertial devices mainly starts from two aspects: hardwa...

AI Technical Summary

Problems solved by technology

However, after the inertial components are installed, changes in the environment and time migration will make the error parameters inconsistent with the results of the discrete calibration, which will lead to a decrease in the accuracy of the strapdown inertial navigation system

However, frequent disassembly of the SINS for discrete calibration will bring huge economic losses and practical engineering burdens.

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