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Deflection estimation method for closed loop correction of installation error

An installation error and closed-loop technology, which is applied in the field of deflection estimation for closed-loop correction of installation errors, can solve problems such as inability to realize deflection error compensation

Active Publication Date: 2018-05-29
BEIJING AUTOMATION CONTROL EQUIP INST
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Problems solved by technology

And the current method cannot achieve online compensation for deflection errors

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  • Deflection estimation method for closed loop correction of installation error
  • Deflection estimation method for closed loop correction of installation error
  • Deflection estimation method for closed loop correction of installation error

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[0098] The method proposed by the present invention includes nine steps, the first step is to define the coordinate system, the second step is the navigation calculation based on the inertial system, the third step is to establish the deflection error model, the fourth step is to establish the system error equation, and the fifth step is to establish For the measurement equation, step 6 is to calculate the measured value, step 7 is to use the Kalman filter equation to calculate, step 8 is to correct the installation error angle and deflection angle closed-loop, and step 9 is to repeat the deflection angle closed-loop correction.

[0099] Step 1. Define the coordinate system

[0100] In the pose matching calculation method, an auxiliary coordinate system needs to be introduced:

[0101] (1) Inertial coordinate system i 1 :t 0 It is obtained by moment-to-moment inertial navigation calculation of carrier system b-system inertial solidification;

[0102] (2) Inertial coordinate...

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Abstract

Belonging to the technical field of inertial measurement, the invention in particular relates to a deflection estimation method for closed loop correction of installation error. The method includes the following 9 steps: 1. definition of a coordinate system, 2. inertial system based navigation operation, 3. establishment of a deflection error model, 4. establishment of a system error equation, 5.establishment of a measurement equation, 6. calculation of a measurement value, 7. calculation with a Kalman filtering equation, 8. closed loop correction of installation error angle and deflection deformation angle, and 9. repeated closed loop correction of deflection deformation angle. Compared with the traditional method, the method provided by the invention can greatly improve the measurementprecision and estimation speed, can enhance the attitude information measurement accuracy of different parts on a carrier platform, and can improve the use efficiency of related equipment.

Description

technical field [0001] The invention belongs to the technical field of inertial measurement, in particular to a deflection estimation method for closed-loop correction of installation errors. Background technique [0002] The dynamic deflection and deformation of the carrier platform will affect the use of the main reference information by the sub-inertial navigation equipment, and affect the measurement accuracy of the equipment installed on the carrier platform including ships, aircraft wings and ground vehicles, so the deflection of the carrier platform must be Deformation characteristics are effectively measured and compensated. The deflection is mainly due to external stresses such as temperature changes, external impacts, airflow, and its own load, as well as the surrounding environment. The structure of the carrier platform itself will have different degrees of dynamic deformation. The deflection can be divided into static deflection and dynamic deflection. . [000...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C21/16
CPCG01C21/16G01C25/005
Inventor 郭元江李海军孙伟徐海刚李群刘冲原润裴玉锋钟润伍韩雪刘璐
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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