An accurate calibration method for installation error of accelerometer in inertial platform system

Abstract

The invention relates to a method for accurately calibrating the installation error of an accelerometer of an inertial platform system. The method can accurately calibrate the installation error of the accelerometer of the inertial platform system under the condition of no accurate horizontal reference and vertical reference. Its main implementation steps include: [1] Three accelerometers are installed in pairs on the inertial platform body orthogonally, and the accelerometer calibration position arrangement scheme is designed; [2] The accelerometer calibration position arrangement scheme is used to complete data acquisition, and the accelerometer The error model calculates the accelerometer zero position, the accelerometer scale factor and the accelerometer installation error; [3] uses the calculated accelerometer installation error to compensate the accelerometer output; [4] verifies the compensation effect of the accelerometer installation error.

Description

technical field [0001] The invention relates to a method for accurately calibrating the installation error of an accelerometer in an inertial platform system. Background technique [0002] Inertial navigation technology mainly determines the motion parameters of the carrier through the acceleration and attitude information of the sensitive carrier, and realizes the functions of navigation, guidance, positioning, orientation and control of the carrier. Compared with other navigation technologies, the inertial navigation system with inertial technology as the core is the only system that can provide all the required navigation information in real time, continuously and autonomously, and has all-weather, uninterrupted, concealed and unaffected by time, region and environment. Restrictions and other characteristics are the core information source and reference information source of the carrier's motion parameters, and the core supporting technology of national defense technology...

AI Technical Summary

Problems solved by technology

This type of method has many parameters for one-time calibration, and different system models can be constructed according to the needs. The inconsistency of the models will cause the observability of the accelerometer installation error to be different. Inappropriate model selection may even cause the accelerometer installation error to be unobservable, resulting in inability to Identify the installation error of the accelerometer;

[0009] (3) The multi-position self-calibration scheme of the platform. This method marks the error parameters of the gyroscope and accelerometer at the same time, and uses the platform frame to perform multi-position flip. After each position is in place, release the frame to make the platform body stable relative to the inertial space. At this time, the output of the accelerometer changes relative to the geographic system. If the analytical relationship between the output of the accelerometer and the acceleration of gravity is used for parameter identification, it will affect the calibration accuracy of the accelerometer. If the method of parameter identification at the system level is used, the calculation process is more complicated.

[0010] (4) Process guarantee. In previous platform applications, the accelerometer installation error was guaranteed by the installation process. The default accelerometer installation error was a small amount, and the accelerometer installation error was not considered when the platform self-calibration and self-alignment

This method complicates the accelerometer installation process

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