Dual-axis rotary modulation system full-parameter self-calibration method

A dual-axis rotation and modulation system technology, applied in the field of inertial navigation, can solve the problems of complex calibration process, long cycle time, expensive calibration cost, etc., to achieve accurate and effective methods, easy to implement, and save the need for dismantling and returning to the factory for calibration Effect

Inactive Publication Date: 2018-12-18
XIAN FLIGHT SELF CONTROL INST OF AVIC
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Problems solved by technology

The conventional inertial navigation system calibration scheme needs to disassemble the IMU from the dual-axis rotating frame, and use a high-precision dual-axis position / speed turntable to achieve full-parameter calibration of the IMU under the condition of a static laboratory base. The calibration process is not only complicated, but also expensive. Long cycle and expensive calibration

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  • Dual-axis rotary modulation system full-parameter self-calibration method
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  • Dual-axis rotary modulation system full-parameter self-calibration method

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Embodiment Construction

[0019] The dual-axis rotating frame structure can realize the full parameter excitation of the three-axis gyroscope and accelerometer errors through the design of the indexing strategy, and finally reflect the change trend of the speed error and position error through the navigation integration process, so it has structural characteristics. The ability to calibrate the inertial navigation system with full parameters. As an effective state estimation method, the Kalman filter can use the error state model of the inertial navigation system to effectively track the real-time changes of the navigation error characteristics with the indexing maneuver, obtain the excitation characteristics of the device error parameters, and use external measurements to obtain the velocity The change trend of the error and position error, that is, the response of the excitation, obtains the estimation of the IMU measurement error parameters through the state estimation method, and completes the calib...

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Abstract

The invention discloses a dual-axis rotary modulation system full-parameter self-calibration method, applied to various static and dynamic pedestal environments such as static, shaking, navigation andthe like. Through accurately establishing a full-parameter measurement error model of an inertial measurement unit (IMU), and designing a specific rotation order of transposition of inner and outer frames, each measurement error parameter of the IMU can be stimulated comprehensively, which is embodied in variation tendencies of inertial navigation solution speed and position error finally; the inertial navigation speed and position are compared with external reference information to obtain measurement values of the speed error and the position error; and a Kalman filter is used as a mathematical realization tool of the calibration scheme, and finally the self-calibration without disassembly and assembly of full parameters such as zero-bias error, installation angling error, scale coefficient error and other parameters of three axial gyros / accelerometers is realized, and the overall performance of the inertial navigation system can be improved after compensation.

Description

technical field [0001] The invention belongs to the inertial navigation technology, in particular to a full-parameter self-calibration method of a two-axis rotation modulation system. Background technique [0002] At present, the system scheme using dual-axis rotation modulation is one of the effective ways to realize high-precision inertial navigation. The medium-precision inertial system can effectively suppress the influence of gyro drift and accelerometer zero bias through rotation modulation, significantly improve the navigation accuracy of the inertial navigation system and effectively reduce the cost. However, the modulation method cannot completely suppress all the errors of the inertial device in principle, especially the calibration parameters of the inertial device have long-term uncertain changes related to time, which causes the actual navigation accuracy of the rotary modulation system to gradually decrease. Therefore, according to the change of the actual nav...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 吉翠萍张金亮徐晓乐方景洋朱少华崔未东宫海涛
Owner XIAN FLIGHT SELF CONTROL INST OF AVIC
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