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Disassembling and assembling calibration-free method for inertial elements of strapdown inertial navigation system

A technology of strapdown inertial navigation and inertial components, which is applied in the field of disassembly and assembly of inertial components of strapdown inertial navigation systems without calibration, and can solve problems such as installation errors and the influence of inertial navigation system accuracy

Active Publication Date: 2019-03-15
TIANJIN NAVIGATION INSTR RES INST
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Problems solved by technology

[0002] According to the working principle of the inertial navigation system, the combination of the gyroscope and the accelerometer should be installed at the center of mass of the carrier, and the 3 axes of the 3-axis gyroscope and the 3 measuring axes of the accelerometer should be completely consistent with the 3 axes of the carrier coordinate system. However, there will always be installation errors in the actual installation process, which will definitely affect the accuracy of the inertial navigation system

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  • Disassembling and assembling calibration-free method for inertial elements of strapdown inertial navigation system
  • Disassembling and assembling calibration-free method for inertial elements of strapdown inertial navigation system
  • Disassembling and assembling calibration-free method for inertial elements of strapdown inertial navigation system

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[0102] The following describes the embodiments of the present invention in detail with reference to the accompanying drawings. It should be noted that this embodiment is descriptive and not restrictive, and the protection scope of the present invention cannot be limited by this.

[0103] A method for disassembling and assembling inertial elements of strapdown inertial navigation system without calibration, which is characterized in that it comprises the following steps:

[0104] ⑴, gyroscope 3 degrees of freedom installation reference design;

[0105] Establish the body coordinate system of the gyroscope on the gyroscope, such as figure 1 As shown,

[0106] among them,

[0107] G means gyroscope;

[0108] gb represents the body coordinate system of the gyroscope;

[0109] p represents the IMU coordinate system;

[0110] i gb , J gb , K gb Respectively represent three mutually orthogonal axes on the body coordinate system of the gyroscope;

[0111] x p , Y p ,z p Respectively represent thre...

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Abstract

The invention relates to a disassembling and assembling calibration-free method for inertial elements of a strapdown inertial navigation system. The disassembling and assembling calibration-free method for the inertial elements of the strapdown inertial navigation system comprises reference for installation of degree of freedom of a gyroscope 3, reference for installation of degree of freedom of an accelerometer 3, reference for installation of IMU, installation of the inertial elements, calibration of the inertial navigation system, equation for element inertia measurement errors caused by installation errors and backstepping of the precision of the navigation system to requirements for the installation errors. The design thought of the achievement of the invention is novel, and has innovativeness, repeatability of the installation errors for the inertial elements is ensured, the repeated installation errors are controlled in a negligible range, therefore, a disassembling and assembling calibration-free function of the inertial elements is fulfilled, the maintainability of the system is improved, the inertial elements of the strapdown inertial navigation system can be maintained in the external field and do not need to return to a factory for calibration.

Description

Technical field [0001] The invention relates to the technical field of inertial navigation systems, in particular to a calibration-free method for disassembly and assembly of inertial elements of strapdown inertial navigation systems. Background technique [0002] According to the working principle of the inertial navigation system, the combination of gyroscope and accelerometer should be installed at the center of mass of the carrier, and the 3 axis of the 3-axis gyroscope and the 3 measuring axes of the accelerometer should be exactly the same as the 3 axes of the carrier coordinate system. The same, but there will always be installation errors in the actual installation process, which will definitely affect the accuracy of the inertial navigation system. The calibration of the inertial navigation system is mainly to calibrate the angular displacement error of the gyroscope in the inertial navigation system, that is, the installation error of the gyroscope, the angular displace...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 侯志宁陈鑫阳张海龙刘为任
Owner TIANJIN NAVIGATION INSTR RES INST
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