An Accelerometer Zero Bias Estimation Method Based on Gravity Apparent Velocity and Parameter Identification

Abstract

The invention discloses an accelerometer zero bias estimation method based on gravity apparent velocity and parameter identification, comprising the following steps: 1) constructing a gravity apparent acceleration model including the accelerometer zero bias; 2) identifying gravity apparent velocity parameters and constructing acceleration 3) select the system measurement value to determine the state vector; 4) construct an online identification filter to complete the gravity apparent velocity parameter identification and accelerometer zero bias estimation; the present invention has the following significant progress: in the alignment process In this method, only the vibration of the carrier itself is used to decouple the excitation of the error, which can reduce the requirements for the maneuverability of the carrier; in the process of parameter identification, the observable data is fully utilized to improve the accuracy of parameter identification; based on the acceleration integral, the accelerometer zero bias is established Estimation model; during the alignment process, the estimated value of the constant zero bias of the accelerometer is provided in real time, which can be used to solve the carrier navigation parameters.

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...

AI Technical Summary

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

Images