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

Abstract

The invention discloses an 8-position strapdown inertial navigation system-level calibration method based on speed observation. The method mainly includes the following steps: first, the inertial group is installed on a double-axis turntable with a temperature box, and the temperature of the temperature box of the turntable is set. , and power up the strapdown inertial navigation system, initialize the navigation system and the Kalman filter after the temperature stabilizes, use the turntable to rotate the inertial group to 8 positions in turn, fully stimulate the inertial group error, and use the speed error of the navigation solution as the observation Input the quantity into the Kalman filter, estimate 24 error parameters of the inertial group, set the temperature of the thermostat as N different temperature points, repeat the 8-position calibration step, and fit the error parameters of several temperature points. The invention has the advantages of fast calibration and does not depend on the precision of the turntable, and at the same time can perform temperature compensation on the inertial group, saving cumbersome temperature compensation tests.

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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