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Scale error compensation strategy for rotary type strapdown inertial navigation gyroscope

A scale error, strapdown inertial navigation technology, applied in the field of inertial navigation, can solve the problems of positive and negative asymmetry, optical gyro scale factor error, inertial element scale factor error, etc., to achieve the effect of improving accuracy and stability

Active Publication Date: 2017-08-18
中国船舶重工集团公司第七〇七研究所
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Problems solved by technology

Since the scale factor of the inertial element cannot be calibrated absolutely accurately, and the scale factor will change with time, environment and other factors, the scale factor error of the inertial element always exists in the actual system
In addition, due to the principle, process, calibration method and other reasons, the scale factor of the optical gyroscope has certain errors and positive and negative asymmetry.

Method used

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  • Scale error compensation strategy for rotary type strapdown inertial navigation gyroscope
  • Scale error compensation strategy for rotary type strapdown inertial navigation gyroscope
  • Scale error compensation strategy for rotary type strapdown inertial navigation gyroscope

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Embodiment Construction

[0023] Embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings:

[0024] A scale error compensation strategy for a rotary strapdown inertial navigation gyro, such as figure 1 shown, including the following steps:

[0025] Step 1. The inertial navigation equipment is powered on, initialized and roughly aligned.

[0026] (1) The inertial navigation equipment is powered on, and the two rotating shafts rotate to their respective zero positions according to the preset control command;

[0027] (2) Staple the initial position, complete the rough alignment process according to the preset rough alignment scheme, and obtain the rough alignment result.

[0028] Step 2, two-axis rotation modulation fine alignment.

[0029] The inertial navigation enters the fine alignment stage, and begins to perform periodic rotation with a predetermined plan. After the fine alignment is completed, the inertial navigation enters the nav...

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Abstract

The invention relates to a scale error compensation strategy for a rotary type strapdown inertial navigation gyroscope. The scale error compensation strategy is characterized by including the steps of firstly, performing power-up initializing and coarse alignment on inertial navigation equipment; secondly, performing double-shaft rotation modulation fine alignment; thirdly, performing compensation calculation on gyroscope scale errors and performing compensation. The scale error compensation strategy has the advantages that the new gyroscope scale after compensation is calculated by analyzing the causes of azimuth angle oblique shifting and according to inertial navigation output azimuth angles, compensation calculation is performed in the gyroscope scale errors, the rotary type strapdown inertial navigation gyroscope scale factor errors can be compensated effectively, the gyroscope scale factor errors can be compensated forwardly and reversely, and inertial navigation data output precision and stability are increased.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, in particular to a scale error compensation strategy of a rotary strapdown inertial navigation gyroscope. Background technique [0002] The purpose of the rotating mechanism in the rotary inertial navigation system is to allow the errors caused by the constant drift of the inertial elements to cancel each other out in a rotation cycle. The corresponding technology is also called the system error averaging technology and is widely used. In the current optical gyro inertial navigation system, the accuracy of the gyroscope is usually expressed by resolution and drift. Since the scale factor of the inertial element cannot be calibrated absolutely accurately, and the scale factor will change with time, environment and other factors, the scale factor error of the inertial element always exists in the actual system. In addition, due to the principle, process, calibration method and other re...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 赵云旭王东升王兴全范玮
Owner 中国船舶重工集团公司第七〇七研究所
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