Method and device for compensating temperature drift errors, and integrated navigation system

Abstract

Embodiments of the invention provide a method and device for compensating temperature drift errors, and an integrated navigation system. The method comprises the following steps: acquiring the sampleoperating temperatures of a microelectromechanical system inertial measurement unit (MEMS IMU); acquiring the error parameter values of the measurement results of the MEMS IMU corresponding to the sample operating temperatures; carrying out fitting based on a plurality of the sample operating temperatures and a plurality of the error parameter values so as to obtain an error parameter-temperaturerelation curve; and compensating for the temperature drift errors of the MEMS IMU according to the curve. The method for compensating the temperature drift errors in the embodiments of the invention compensates for the temperature drift errors of the MEMS IMU on line by using the error parameter-temperature relation curve obtained after fitting of a great amount of MEMS IMU sample data generated in actual navigation process. The curve is updated based on real-time navigation information, so navigation accuracy is improved, cost is reduced, and implementation of the method is facilitated.

Description

technical field [0001] Embodiments of the present invention relate to the field of navigation, and more specifically, to a method, device and integrated navigation system for compensating temperature drift errors in the field of integrated navigation. Background technique [0002] The GNSS / INS integrated navigation system integrates the advantages of the global navigation satellite system (GNSS) and the inertial navigation system (INS), and has precise navigation capabilities and all-weather working capabilities. widely used. For some high-precision inertial measurement units (inertial measurement unit, IMU) in the INS, when the operating temperature of the sensor does not change much, the error can be compensated by online calibration without considering the temperature factor. However, in the GNSS / INS integrated navigation system, because the operating temperature of the micro electromechanical system inertial measurement unit (MEMS IMU) in the INS varies greatly, there a...

AI Technical Summary

Problems solved by technology

However, in the GNSS / INS integrated navigation system, because the operating temperature of the micro electromechanical system inertial measurement unit (MEMS IMU) in the INS varies greatly, there are generally MEMS IMU sensor parameters (such as zero bias, Proportional factor) is a phenomenon that changes significantly with temperature, this phenomenon is called "temperature drift phenomenon"

The error caused by the temperature drift phenomenon is called "temperature drift error". The temperature drift error will cause the navigation accuracy to drop. At the same time, when the integrated navigation system is started at high temperature or low temperature, the navigation accuracy in the initial stage will be caused by the large initial error of the MEMS IMU. Poor, such as significant heading drift, etc.

The traditional method to solve the temperature drift error is to calibrate each MEMS IMU in the laboratory at full temperature when it leaves the factory. It will gradually change with the time of use, and the temperature drift error of MEMSIMU will still exist, which will affect the navigation accuracy of the navigation system

Images