A Mooring State Calibration Method of Accelerometer Based on Specific Force Modulus and Inertial Stability
A technology of accelerometer and calibration method, applied in speed/acceleration/shock measurement, testing/calibration of speed/acceleration/shock measurement equipment, instruments, etc., can solve the problem of limited number of error parameters, large parameter estimation error, dynamic measurement Accuracy reduction and other issues
Active Publication Date: 2019-09-13
FUZHOU UNIV
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This calibration method does not rely on precision equipment such as turntables, and has strong adaptability to the field environment, but the number of error parameters that can be separated is limited, and there will be large parameter estimation errors, especially in the mooring state, due to the carrier Angular motion, the system cannot be in a state of inertial stability, which greatly reduces the dynamic measurement accuracy of the system
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[0068] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0069] Such as figure 1 As shown, an accelerometer mooring state calibration method based on specific force modulus and inertial stability includes the following steps:
[0070] Step S1: Install the inertial navigation system on the turntable, set the working mode of the four-ring frame system as the outer ring servo tracking the inner corner signal, and let the inertial navigation system warm up;
[0071] Step S2: Establish the matrix observation equation of the ratio modulus error, calculate the condition number of the observation matrix corresponding to the layout of all platforms at two or three locations according to the current geographic latitude, and select the platform layout scheme with the smallest condition number (optimal scheme );
[0072] Step S3: Adjust the inertial navigation system platform according to the optimal plan, and continuo...
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The invention relates to an accelerometer mooring state calibration method based on the specific force mode and inertial stability. The method includes the steps that firstly, an inertial navigation system is installed on a rotary table, the working mode of a four-ring frame system is set as that the outer ring performs servo tracing on inner rotating angle signals, and the inertial navigation system performs preheating; then, a matrix observation equation of specific force mode errors is established, the condition numbers of observation matrixes corresponding to all platform layout schemes attwo or three positions are calculated according to the current geographic latitude, and the platform layout scheme with the smallest condition number is selected; inertial navigation system platformsare adjusted according to the scheme, and specific force data of one day and one night is continuously collected under each platform layout; finally, the specific force data is input into a static Kalman filter, and corresponding accelerometer error parameters are estimated. By means of the method, 9 accelerometer error parameters can be accurately estimated, the simulation result shows that thecalibration accuracy of the method can reach the level of 1*10<-6> g, and the method is feasible, simple and economical and has great engineering application potential.
Description
technical field [0001] The invention relates to the technical field of instrument calibration, in particular to an accelerometer mooring state calibration method based on specific force modulus and inertial stability. Background technique [0002] The inertial navigation system is based on Newtonian mechanics. The only information needed is the motion acceleration of the carrier. It can provide navigation parameters without relying on any external reference information. It is a veritable autonomous navigation system. The inertial navigation system does not radiate any energy to the outside, has good concealment, and is rarely affected by interference factors such as weather and man-made. It has a wide range of applications in technical fields such as aviation, navigation, ground vehicles and geodesy. [0003] As a specific force sensitive component, the accelerometer is one of the core components of the inertial navigation system. For a space-stabilized system, the measurem...
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IPC IPC(8): G01P21/00G01C25/00
Inventor 何虔恩曾聪杰林志贤陈恩果叶芸郭太良
Owner FUZHOU UNIV