An Attitude Calibration Method of Moving Base Based on Autocollimation Tracking

Abstract

The invention belongs to the technical field of attitude calibration of inertial navigation systems, and in particular relates to a method for calibrating the attitude of a moving base based on self-collimation tracking. Install the inertial navigation system on the inner frame table of the three-axis swing table, so that the rotation of the outer frame of the three-axis swing table excites the heading angle change of the inertial navigation system, the rotation of the middle frame stimulates the pitch angle change of the inertial navigation system, and the rotation of the inner frame stimulates the change of the pitch angle of the inertial navigation system. The roll angle of the inertial navigation system changes; the eyepiece of the dynamic auto-collimation tracking measuring instrument is firstly self-aligned with the north reference mirror, and the output value of the dynamic auto-collimating and tracking measuring instrument is recorded at this time; The measuring instrument is self-collimated with the azimuth reference mirror of the inertial navigation system, and the output value of the dynamic self-collimation tracking measuring instrument is recorded again. The invention utilizes the automatic tracking and dynamic angle measurement functions of the dynamic self-collimation tracking measuring instrument to realize the real-time calibration of the inertial navigation system attitude under static and dynamic conditions.

Description

technical field [0001] The invention belongs to the technical field of attitude calibration of inertial navigation systems, and in particular relates to a method for calibrating the attitude of a moving base based on self-collimation tracking. Background technique [0002] With the development of science and technology, especially electronic technology and satellite computer technology, inertial navigation, guidance and control have developed rapidly, and the accuracy has become higher and higher. Optical strapdown inertial navigation, such as laser gyro, fiber-optic gyro inertial navigation, has achieved high precision and has been widely used in rockets, missiles, spacecraft and aircraft. Because the inertial navigation system works in a dynamic environment, the attitude angle changes greatly and the frequency is high. Therefore, how to measure and calibrate the dynamic attitude accuracy of the inertial navigation system under dynamic conditions has become an urgent proble...

AI Technical Summary

Problems solved by technology

This method has relatively large limitations. For example, theodolite (total station) instruments, which are widely used in the market, are mainly suitable for static measurement, without dynamic acquisition and self-collimation functions; the combination of laser tracker, camera unit and target unit The measurement system adopts the image measurement method, the dynamic accuracy is low, and the system use efficiency is not high; when the photoelectric autocollimator is used alone, the measured value is the relative change of the angle, and there is no indexing mechanism, so the scope of use is limited

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