Online dynamic calibrating method for errors of inner and outer lever arms of two rotary inertial navigation systems
An inertial navigation system and dynamic calibration technology, which is applied in the field of inertial navigation system error parameter calibration, can solve the problems of different sensitive measurement points, acceleration errors, installation errors, etc., and achieves strong autonomy, simple calibration process, and short calibration time. Effect
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[0020] The present invention will be further introduced below in conjunction with the drawings and specific embodiments.
[0021] Such as figure 1 As shown, the specific implementation method of the method for on-line dynamic calibration of the inner lever arm and outer lever arm error of the two sets of rotary inertial navigation system of the present invention is as follows:
[0022] 1. Establish a measurement model for the respective inner lever arms of the two sets of rotating inertial navigation systems, the error of the outer lever arms between the systems, and the speed difference between the two sets of rotating inertial navigation systems;
[0023] Such as figure 2 Shown are schematic diagrams of the respective inner lever arms and the outer lever arms between the two sets of rotary inertial navigation systems of the present invention. Among them, O b1 -X b1 Y b1 Z b1 , O b2 -X b2 Y b2 Z b2 The body coordinate system of RINS1 and RINS2 respectively, the origin is O b1 , O b...
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