A dual accelerometer calibration method without a turntable

Abstract

The invention discloses a turntable-free double-accelerometer calibration method. At least two accelerometers are arranged in a carrier inertial navigation system, and are respectively called an accelerometer A and an accelerometer B; and the carrier inertial navigation system is made to be in a stationary state. The method include the following steps that: the zero offset error calibration modelsof the accelerometer A and accelerometer B are constructed and defined, and at the same time, error measurement vectors in the error calibration models are obtained; and the Kalman filtering method is adopted to filter the zero offset error calibration models of the accelerometer A and accelerometer B, and with the error observation vectors adopted as filtering input, the tri-axial output zero offset error calibration values of the accelerometer A and the accelerometer B at a k time point are obtained during the convergence processing of filtering. According to the method of the present invention, on the basis of the speed error of the inertial navigation system, the Kalman filtering technology is adopted to realize the accurate online estimation of the zero offset of the accelerometers.

Description

technical field [0001] The invention relates to the field of inertial navigation and positioning, in particular to a dual accelerometer calibration method without a turntable, and is an accelerometer calibration method suitable for loading two or more accelerometer platforms without a turntable. Background technique [0002] Inertial technology is a general term for inertial guidance, inertial navigation and inertial measurement technology, and its theoretical basis is based on the laws of classical mechanics. Among them, inertial navigation is such a technology, the speed can be obtained by integrating the output of the accelerometer once, the position change can be obtained by integrating twice, and the direction and magnitude of the rotation can be determined by the measured value of the gyroscope. Through the combined use of gyroscopes and accelerometers, the position of the vehicle can be determined. Inertial navigation only needs to obtain the precise initial position...

AI Technical Summary

Problems solved by technology

However, the use conditions of this method are relatively harsh. First, a turntable with a certain accuracy is required as a reference to ensure that the relative conversion relationship between multiple positions is known. Time data sampling; these two conditions of use (especially the need for a turntable with a certain accuracy) greatly limit the wide application of this method in engineering

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