8-position strapdown inertial navigation system level calibration method based on speed observation

Abstract

The invention discloses an 8-position strapdown inertial navigation system level calibration method based on speed observation. The method mainly includes installing an inertial unit on a dual-shaft rotary table with an incubator, setting the temperature of the incubator of the rotary table, supplying power to the strapdown inertial navigation system, after the temperature is stable, initializinga navigation system and a Kalman filter, orderly rotating the inertial unit by 8 positions through the rotary table, fully exciting errors of the inertial unit, inputting the speed error, computed bynavigation, as observed quantity into the Kalman filter, estimating 24 error parameters of the inertial unit, respectively setting N different temperature points of the incubator, repeating the 8-position calibration processes, and fitting error parameters of the multiple temperature points. The method has the advantages of fast calibration rate and independence of the rotary table precision, canrealize temperature compensation for the inertial unit and is free of a complex temperature compensation test.

Description

technical field [0001] The invention belongs to inertial navigation technology, in particular to an 8-position strapdown inertial navigation system-level calibration method based on speed observation. Background technique [0002] Inertial navigation technology is based on the output of its own inertial group, and provides navigation information for the carrier through navigation calculation. Due to its unique advantages such as strong concealment and high reliability, it is widely used in military, survey and other fields. The inertial unit is the core unit of the inertial navigation system, and its accuracy directly affects the accuracy of the inertial navigation system. Therefore, the calibration of the inertial navigation system is a necessary process before the use of the inertial navigation system. The purpose is to establish an accurate mathematical model of the input and output relationship of the inertial unit. The theoretical basis is system identification and para...

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Problems solved by technology

[0006] Purpose of the invention: Aiming at the above-mentioned problems in the prior art that the inertial group drifts with time during the system-level calibration process, the calibration accuracy is reduced and the temperature compensation process is cumbersome, the present invention is an 8-position strapdown inertial navigation system-level calibration method based on velocity observation , can reduce the calibration position layout, shorten the calibration time, and at the same time perform temperature compensation on the inertial group

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