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A Method for Determination of Error Coefficient of Linear System of Inertial Devices
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A linear system and inertial device technology, applied in the aerospace field, to achieve the effect of improving confidence, precise significance level, wide application range and engineering value
Active Publication Date: 2021-03-26
BEIJING INST OF AEROSPACE CONTROL DEVICES
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[0037] But the above equation is only in the structure matrix [c 1 ,c 2 ,...,c j-1 ] is non-singular, while in the structure matrix [c 1 ,c 2 ,...,c j-1 ] does not hold when singular
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Embodiment 1
[0078] A method for determining the error coefficient of an inertial device linear system, such as figure 1 Shown include the following steps:
[0079] S1. Establish the linear system equation of the inertial device. The linear system equation of the inertial device is:
[0080]
[0081] In the formula, is the observation vector of the random variable; C is the structure matrix; is an unknown parameter vector; ε is an n-dimensional random error vector.
[0082] S2. Perform a correlation test on the structure matrix in the linear system equation of the inertial device described in S1, and obtain the linear system equation of the inertial device after the correlation test.
[0083] Carrying out the correlation check on the structural matrix in the linear system equation of the inertial device described in S1 includes the following steps:
[0084] S21. Setting the correlation coefficient critical value ρ LJ , correlation simplification times p, correlation structure ma...
Embodiment 2
[0107] A computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps of the method for determining the linear system error coefficient of an inertial device are realized.
Embodiment 3
[0109] A method for determining the error coefficient of an inertial device linear system, such as figure 2 Shown include the following steps:
[0110] (1), suppose the equation of the linear system of the inertial device is
[0111]
[0112] In the formula,
[0113] —— is the structure matrix;
[0114] —— is the observation vector of the random variable;
[0115] —— is the unknown parameter vector;
[0116] —— is an n-dimensional random error vector.
[0117] (2), given the critical value of the correlation coefficient ρ LJ , conduct a correlation test on the structure matrix given in step (1) and simplify the linear equation given in step (1), to obtain a new linear equation
[0118]
[0119] The correlation coefficient of any two columns in the structure matrix C' of this equation is less than ρ LJ .
[0120] (3), the given coefficient significance critical value F LJ , perform a significance test on the simplified linear equation given in step (2) a...
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Abstract
The invention relates to a method for determining the error coefficient of a linear system of an inertial device. The structure matrix of a linear system equation of the inertial device is subjected to correlation test and significance test successively; finally, an unknown parameter vector estimation value in the linear system equation of the inertial device after the significance test is calculated by utilization of a least square method; and the unknown parameter vector estimation value is the error coefficient of the linear system of the inertial device. The method can be suitable for a condition that the structure matrix of the linear system is not column full rank, and simultaneously, can satisfy the significance analysis requirement.
Description
technical field [0001] The invention relates to a method for determining an error coefficient of a linear system of an inertial device, which belongs to the technical field of aerospace. Background technique [0002] At present, the inertial navigation of aerospace vehicles mainly adopts strapdown systems or platform systems composed of gyroscopes and accelerometers. Before live ammunition flight, it is necessary to calibrate the error coefficients of the gyroscope and accelerometer on the ground, and the accuracy of inertial navigation can be effectively improved through error compensation according to the calibration results. At present, in the actual flight navigation test of the inertial device calibrated on the ground, there is still a large deviation between the theoretical value of the speed and position calculated according to the telemetry data and the real flight speed and position value obtained from the external test, and the so-called "Heaven and earth don't ag...
Claims
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