Standard-free system grade calibration method of strapdown inertial navigation system

A system-level calibration and strapdown inertial navigation technology, applied to measuring devices, instruments, etc., can solve problems such as low precision, unachievable calibration, and limited application range of calibration methods

Active Publication Date: 2018-06-08
BEIJING INST OF COMP TECH & APPL
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Problems solved by technology

[0008] The system-level calibration method based on least squares identification needs to be carried out under static conditions, but it can overcome other shortcomings of the kalman filter calibration method: (1) It is suitable for the calibration of medium-precision inertial navigation (gyro bias stability is better than 0.5°/h ); (2) A two-axis low-precision turntable can be used, and the inertial navigation can also be installed on a low-precision tooling, and the calibration can be achieved by manual flipping; (3) The sequence of rotation is relatively simple and intuitive; (4) The rotation inside and outside during the calibration process Lever arm effect, gyroscope and accel

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  • Standard-free system grade calibration method of strapdown inertial navigation system
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  • Standard-free system grade calibration method of strapdown inertial navigation system

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[0094] In order to make the purpose, content, and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with examples.

[0095] The system-level calibration method without reference of the strapdown inertial navigation system of the present invention includes:

[0096]Set up the calibration environment, including: (1) dual-axis vibration-isolation turntable; (2) vibration-isolation marble platform, using manual flipping (3) if the inertial navigation system of the dual-axis indexing system is calibrated on the vehicle, the engine of the vehicle needs to be turned off , parked in the factory building to avoid the impact of gusts, and avoid the impact of people getting on and off the car from shaking the car-carrying corner.

[0097] The first step is to establish the inertial navigation calibration compensation model

[0098] First define the inertial coordinate system ...

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Abstract

The invention discloses a standard-free system grade calibration method of a strapdown inertial navigation system, wherein the method comprises the following steps of 1, building an inertial navigation calibration compensation model; 2, building an inertial navigation calibration compensation error model; 3, performing calibration order transfer compiling and data collection; 4, performing compensation error resolving and correction. By aiming at the two defects of at least square identification method, the standard-free system grade calibration method of the strapdown inertial navigation system is designed; under the standard-free condition, the high-precision calibration of the inertial navigation at different initial postures can be realized.

Description

technical field [0001] The invention relates to a navigation technology, in particular to a system-level calibration method for a strapdown inertial navigation system without reference. Background technique [0002] The calibration method of strapdown inertial navigation system (hereinafter referred to as inertial navigation system) has two directions: discrete and system-level calibration methods. Discrete calibration generally needs to be completed under laboratory conditions, and requires high-precision and three-axis benchmarks. The turntable has high requirements on the accuracy of calibration equipment, high calibration cost, and lower calibration accuracy than system-level calibration. [0003] The system-level calibration has high precision and requires low accuracy of the turntable. Some system-level calibration methods do not even need a turntable, and high-precision calibration can be achieved only by manually flipping the inertial navigation system. At present, ...

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 葛磊王亚凯师兰芳李向东马仁冬殷楠
Owner BEIJING INST OF COMP TECH & APPL
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