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A continuous rolling self-calibration and self-alignment method for an inertial platform under a static base

An inertial platform and self-alignment technology, applied in the field of inertial navigation, can solve problems such as frame installation errors, relatively demanding system computing capabilities, and reduced calibration and alignment accuracy

Inactive Publication Date: 2019-08-27
INHALE HYPERSONIC TECH RES CENT UNIT 63820 OF PLA
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Problems solved by technology

However, the misalignment angle model requires the system to meet the assumption of a small angle first, which is difficult to guarantee in reality, especially in the filtering process, the system needs to be compensated in real time, and the computing power of the system is relatively demanding.
The frame angle model will introduce frame angle observation error, frame installation error, platform base installation error, etc., which reduces the accuracy of calibration and alignment
In addition, the frame angle system model has certain limitations and is not suitable for full-attitude three-frame four-axis iso-inertial platform navigation systems

Method used

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  • A continuous rolling self-calibration and self-alignment method for an inertial platform under a static base
  • A continuous rolling self-calibration and self-alignment method for an inertial platform under a static base
  • A continuous rolling self-calibration and self-alignment method for an inertial platform under a static base

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Embodiment Construction

[0134] Below in conjunction with accompanying drawing and embodiment, describe technical solution of the present invention in detail:

[0135] In the simulation, the generation cycle of the torque instruction is 0.1s, the filter cycle is 1s, the measurement noise of the accelerometer is 0.1μg, and the measurement noise of the gyroscope is 1×10 -4 ° / h, the initial value of the filter attitude angle is the rough alignment result, the initial alignment deviation is 0.02°, and the other initial values ​​are zero, Q and R are set according to the noise characteristics of the inertial instrument, and the P matrix is ​​set as a diagonal matrix. The initial variance of each state quantity is as follows: the attitude angle is 1×10 -7 , the gyroscope zero bias is 1×10 -12 , the primary term of the gyroscope is 1×10 -14 , the accelerometer bias is 1×10 -8 , the accelerometer scale factor error coefficient is 1×10 -8 , the gyroscope installation error is 1×10 -8 , the accelerometer i...

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Abstract

Belonging to the technical field of inertial navigation, the invention in particular relates to an inertial platform continuous roll self-calibration and self-alignment method under a static base. The method firstly adopts an inertial device input shaft as the reference to establish a systematic coordinate system, then on the basis of an inertial platform working principle, an inertial platform attitude angle is employed as the intermediate quantity to establish a system dynamics model and an observation model, and then a platform matrix addition scheme needed by inertial platform self-calibration and self-alignment is designed through observability analysis, finally the platform attitude angle and various error coefficients of the platform are selected as the state variables of the system, and autonomous calibration and alignment of the inertial platform can be realized through reduced cubature Kalman filter. The method provided by the invention can change the existing calibration and alignment modes of the inertial platform, simplifies the inertial platform self-calibration and self-alignment process, weakens the strong coupling between system calibration and alignment, and provides the basic theory and technical support for improving the inertial platform actual use precision.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and in particular relates to a continuous rolling self-calibration and self-alignment method of an inertial platform under a static base. Background technique [0002] Platform inertial navigation system (also known as inertial platform) has the advantages of strong autonomy, strong anti-interference ability, high short-term accuracy and high navigation frequency, which are difficult to match with other navigation systems. Therefore, when the satellite navigation system achieves centimeter-level accuracy, the high-precision inertial navigation system is still used as the core navigation system of some carriers (such as aircraft, rockets, space shuttles, submarines, etc.). However, as a recursive autonomous navigation system, the inertial platform navigation system needs to complete two preparations before use, that is, calibration and initial alignment, and the errors of calibration a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/18G01C25/00
Inventor 丁智坚周欢吴颖川贺元元吴东升王锋刘建霞陈圣兵武龙
Owner INHALE HYPERSONIC TECH RES CENT UNIT 63820 OF PLA
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