Method for compensating inertial installation error of cabin assembly

Abstract

The invention provides a method for compensating the inertial installation error of a cabin assembly. A rotation matrix C<imu>b from a carrier coordinate system to an inertial coordinate system is defined; pure inertial navigation solution is carried out by using angular velocity and acceleration information in the inertial coordinate system to obtain an attitude matrix C<n>imu and installation error compensation is carried out on the attitude matrix C<n>imu by the rotation matrix C<imu>b and an outputted attitude matrix is C<n>b, an attitude angle of the carrier under the navigation coordinate system is calculated based on the C<n>b and then a speed and position of the carrier in the navigation coordinate system are calculated; or data outputted by the inertia group are compensated directly by the rotation matrix C<imu>b, pure inertial navigation solution is carried out by using the compensated inertial group data, an attitude angle of the carrier in the navigation coordinate system is calculated, and then the speed and position of the carrier in the navigation coordinate system are calculated. Therefore, the accuracy of the navigation system is improved; the influence of the inertial installation error on the flight control system is reduced; and a solution to the inertia installation error compensation of the cabin product with the large volume and weight is provided.

Description

technical field [0001] The invention belongs to the technical field of inertia, and in particular relates to an inertial group installation error compensation method for cabin assembly. Background technique [0002] With the improvement of systematization, integration, and miniaturization requirements of weapon systems, higher requirements are put forward for the installation accuracy of module-level products. [0003] In the past, the assembly of cabin-level products used datum planes or positioning pins to ensure the installation accuracy between the inertial group and the cabin. However, this method is difficult to process, high in cost, and poor in operability in assembly. The cabin sections need to be installed in multiple stages, and each stage of installation will bring errors of different sizes and directions. Therefore, the installation errors caused by multi-stage installation will be larger, and it is more difficult to ensure the installation accuracy. If the ine...

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Problems solved by technology

[0003] In the past, the assembly of cabin-level products used datum planes or positioning pins to ensure the installation accuracy between the inertial group and the cabin. However, this method is difficult to process, high in cost, and poor in operability in assembly. The cabin sections need to be installed in multiple stages, and each stage of installation will bring errors of different sizes and directions. Therefore, the installation error caused by multi-stage installation will be larger, and it is more difficult to ensure the installation accuracy

If the inertial group installation accuracy does not meet the requirements, it will directly lead to the deterioration of the accuracy of the navigation system and control system, and even directly lead to the failure of the mission, resulting in an irreversible situation

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