Single-axis rotation rapid calibration technology based on fiber-optic gyro inertial navigation

Abstract

Relating to a single-axis rotation rapid calibration technology based on fiber-optic gyro inertial navigation, the invention puts forward a single-axis rotation rapid calibration method. The method includes: firstly establishing an inertial device input-output model according to the input-output relationship of a gyro and an accelerometer, then providing a state equation and an observation equation of Kalman filter, letting a rotary table start rotation around a single axis, estimating system error parameters according to the established Kalman filter equations, and exciting part parameters associated with the axis, after completing the calibration process of the first axis, enabling the rotary table to complete rotation calibration of the other two axes successively in the same way, and finally, analyzing the calibration output result to complete all calibration, and updating the system error parameters. Although that not all system error parameters are estimated, relevant parameters of different axes are calibrated in order, the accuracy of the final result can be guaranteed, a fast convergence speed can be achieved, and the calibration time is greatly shortened.

Description

[0001] (1) Technical field [0002] The invention relates to a fast single-axis rotation calibration method based on a fiber optic gyroscope strapdown inertial navigation system. The system navigation error parameters related to the axis are calibrated through the respective rotation of each axis. [0003] (two), background technology [0004] As a high-precision navigation system, the fiber optic gyro strapdown inertial navigation system has been widely used in various military and civil science and technology engineering fields. However, due to the defects of mechanical manufacturing technology and the limitations of material processing technology, there is still a certain gap between the accuracy level of my country's fiber optic gyro strapdown inertial navigation system and developed countries, and the existing inertial devices cannot meet the needs. accuracy requirements. Therefore, it is becoming more and more difficult to improve the accuracy of the fiber optic gyroscope...

AI Technical Summary

Problems solved by technology

[0009] The purpose of the present invention is to provide a single-axis rotation calibration technology based on Kalman filter based on high-precision fiber optic gyro inertial navigation system, quickly estimate the system error parameters, and improve the slow convergence speed and low estimation accuracy of general calibration technology.

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