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Accelerometer zero offset estimation method based on gravity apparent velocity and parameter identification

A technology of accelerometer zero bias and parameter identification, which is applied in the field of navigation algorithms to achieve the effects of reducing requirements, improving initial alignment accuracy, and improving parameter identification accuracy

Active Publication Date: 2018-12-25
SOUTHEAST UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

How to decouple the accelerometer zero bias based on the velocity error by only using the carrier's own shaking to stimulate the error remains to be solved

Method used

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  • Accelerometer zero offset estimation method based on gravity apparent velocity and parameter identification
  • Accelerometer zero offset estimation method based on gravity apparent velocity and parameter identification
  • Accelerometer zero offset estimation method based on gravity apparent velocity and parameter identification

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Embodiment Construction

[0047] The technical solution of the present invention will be described in detail below in conjunction with specific embodiments and accompanying drawings.

[0048] The present invention utilizes the expression form of the apparent velocity of gravity obtained from the modulus values ​​of each sensitive axis component of the accelerometer to construct the apparent velocity model of gravity including the zero bias of the accelerometer, and to identify the apparent velocity parameters of the accelerometer by integrating the output values ​​of the accelerometer to construct the zero velocity of the accelerometer. In the bias estimation model, after the state vector is determined, a line identification filter is constructed to complete the gravity apparent velocity parameter identification and accelerometer zero bias estimation, and complete the alignment solution.

[0049] figure 1 For the gravity apparent velocity schematic diagram used in the present invention, constructing th...

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Abstract

The invention discloses an accelerometer zero offset estimation method based on gravity apparent velocity and parameter identification. The method comprises the following steps that (1) a gravity apparent accelerated velocity model containing accelerometer zero offset is constructed; (2) gravity apparent velocity parameters are identified, and an accelerometer zero offset estimation model is constructed; (3) a formula (please see the specification for the formula) is selected as a system measurement value, and a state vector is determined; and (4) an online identification filter is constructedto complete gravity apparent velocity parameter identification and accelerometer zero offset estimation. The accelerometer zero offset estimation method has the remarkable advantages that in the aligning process, shaking of a carrier is only used for decoupling error stimulation, and the requirement for the maneuverability of the carrier can be lowered; in the parameter identification process, observable data are fully utilized, so that parameter identification precision is improved; based on accelerated velocity integral, the accelerometer zero offset estimation model is built; and in the aligning process, accelerometer literal zero offset estimation values are provided in real time, and the values can be used for carrier navigation parameter resolving.

Description

technical field [0001] The invention relates to a navigation algorithm, in particular to an accelerometer zero bias estimation method based on gravity apparent velocity and parameter identification. Background technique [0002] Strapdown Inertial Navigation System (SINS) is a kind of navigation system based on integral working mode. In the long-term and long-distance navigation / guidance process, the inertial instrument error will accumulate rapidly under the action of integral, which seriously reduces the positioning accuracy of the navigation system. . Therefore, the inertial instrument will undergo various calibrations before leaving the factory to eliminate errors. In actual situations, due to the influence of environmental factors such as temperature and humidity, the model parameters of the inertial instrument will change after a long period of use and storage. Regular calibration and compensation of various error parameters of inertial instruments is still an import...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20G01C25/00
CPCG01C21/165G01C21/20G01C25/005
Inventor 刘锡祥郭小乐许广富汪宋兵杨文强王启明黄荣
Owner SOUTHEAST UNIV
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