Calibration method for attitude angle error of biaxial rotary inertial navigation system

An inertial navigation system and error calibration technology, applied in the field of inertial navigation, can solve problems such as increased attitude errors

Active Publication Date: 2019-01-15
昆山天地睿航智能科技有限公司
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However, due to the introduction of the rotating mechanism, many errors become the

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  • Calibration method for attitude angle error of biaxial rotary inertial navigation system
  • Calibration method for attitude angle error of biaxial rotary inertial navigation system
  • Calibration method for attitude angle error of biaxial rotary inertial navigation system

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[0064] The technical solutions protected by the present invention will be specifically described below in conjunction with the accompanying drawings.

[0065] The attitude angle error calibration method proposed by the present invention is suitable for general platform inertial navigation systems, and most general platform inertial navigation systems adopt a two-frame three-axis structure, including gyroscopes, accelerometers, outer frames, inner frames and platform platforms body, wherein the gyroscope and accelerometer are installed on the platform body, and the outer frame, the inner frame and the platform body can rotate around the outer ring axis, the inner ring axis and the platform body axis respectively.

[0066] A method for calibrating an attitude angle error of a dual-axis rotary inertial navigation system, comprising the following steps:

[0067] Step 1: Construct the coordinate system, figure 1 Provide the schematic diagram of each coordinate system that the pres...

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Abstract

The invention proposes a calibration method for an attitude angle error of a biaxial rotary inertial navigation system. By constructing a plurality of coordinate systems, an installation deviation angle, that is, a roll misalignment angle existing between the shaft system of the IMU mounted on the inner frame and an inner ring shaft and an outer ring shaft is calibrated, which reduces the influence of a cone error angle on the system attitude; meanwhile, the Kalman filter method is used to calibrate the non-orthogonal angle between the rotating axes and the swing angle of the shaft itself, andthe 16-position rotation method is used to obtain the observation information and navigation data in the process of Kalman filtering, which further improves the attitude accuracy of the system and the navigation accuracy of the system during long-term navigation.

Description

technical field [0001] The invention relates to the field of inertial navigation, in particular to a method for calibrating the attitude angle error of a dual-axis rotary inertial navigation system. Background technique [0002] Dual-axis rotary inertial navigation is a navigation technology that has emerged in China in recent years. Due to the maturity and wide application of laser gyroscope technology and the continuous improvement of fiber optic gyroscope performance, optical gyroscopes can use modulation technology. Within the navigation frame, the modulation technique modulates these errors of gyroscopes and accelerometers whose sensitive axis is perpendicular to the axis of rotation: scale factor asymmetry error, installation error, and random constant drift error. After these errors are modulated and averaged, the positioning accuracy of the system can be significantly improved. However, due to the introduction of the rotating mechanism, many errors become the sourc...

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 姜睿王晶邹锐王艳永刘帅
Owner 昆山天地睿航智能科技有限公司
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