Calibration method and device for inertial navigation equipment

Abstract

The invention discloses a method and device for correcting inertial navigation equipment. The method comprises the steps that the inertial navigation equipment is controlled to operate in a horizontaldamping state during correction of the inertial navigation equipment to suppress a Schuler cycle oscillation error component modulated by a Foucault cycle in longitude errors of the inertial navigation equipment, then a cumulative longitude error between two different moments is obtained, an estimated value of equivalent gyro drift of the inertial navigation equipment is obtained based on the cumulative longitude error between the two different moments, an earth cycle oscillation error component and a constant error component in the inertial navigation longitude errors are eliminated, and finally the longitude errors of the inertial navigation equipment are compensated based on the estimated value of the equivalent gyro drift. According to the method and device for correcting the inertialnavigation equipment, an error source which causes the inertial navigation cumulative longitude error components is estimated, the compensation for the inertial navigation cumulative longitude errorsis realized, and the underwater long-time navigation accuracy of the inertial navigation equipment is improved.

Description

technical field [0001] The present application relates to the technical field of underwater navigation of underwater vehicles, in particular to a calibration method and device for inertial navigation equipment. Background technique [0002] With the advancement of technology, underwater vehicles continue to navigate underwater for longer and longer, and the requirements for navigation and positioning accuracy are getting higher and higher. However, due to environmental conditions, underwater correction methods are very limited. At present, underwater navigation and positioning mainly rely on inertial navigation equipment (hereinafter referred to as "inertial navigation"). Inertial navigation is the core navigation equipment to ensure the concealed navigation of underwater vehicles. Inertial navigation correction needs to be periodically or irregularly surfaced to obtain correct position information. That is to say, during the long-term operation of the inertial navigation s...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the technical defect that there is no solution for accurate correction of inertial navigation equipment in the prior art, which leads to low navigation accuracy of inertial navigation equipment when it works underwater for a long time, thereby providing a method that can correct inertial navigation equipment. Accurate correction, correction method and device for inertial navigation equipment improving its navigation accuracy when working underwater for a long time

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