Online calibration method applied to missile inertial measurement unit

Abstract

The invention discloses an online calibration method applied to a missile inertial measurement unit, and method comprises the following steps of obtaining a plurality of sets of satellite receiver output information and inertial measurement unit pulse output information with the same number of groups in the case that the carrier runs along a planned running path; after the carrier stops the running, obtaining a first set of pure inertial navigation information according to the obtained initial navigation information and the first set of inertial measurement unit pulse output information, and updating the filtering time; when the update of the first set of pure inertial navigation information and the filtering time ends constructing an observation equation according to the first set of satellite receiver output information, and performing filter measurement and update to obtain the state estimation of the missile inertial measurement unit in the current group; repeating the above stepsaccording to the next set of satellite receiver output information and the next set of inertial measurement unit pulse output information, and calculating to obtain the state estimation of the next group until the state estimation of all sets is completed; correcting and updating basic calibration parameters according to the state of the last set, repeating the execution to obtain the final basiccalibration parameters, and completing the online calibration.

Description

technical field [0001] The invention relates to the technical field of aerospace strapdown inertial navigation, in particular to an online calibration method applied to inertial groups on missiles. Background technique [0002] The strapdown inertial navigation system has the advantages of short response time, high reliability, small size, and light weight. It is widely used in military and civilian navigation fields such as aircraft, ships, and missiles. It has important national defense significance and huge economic benefits. [0003] The calibration technology of inertial measurement combination is one of the core technologies in the field of inertial navigation. It is a kind of error identification technology, that is, to establish the error model of inertial devices and inertial navigation system, and solve the error items in the error model through a series of experiments. , and then compensate the error through the software algorithm. The calibration result of IMU d...

AI Technical Summary

Problems solved by technology

[0004] Inertial measurement combined calibration methods are generally discrete calibration and system-level calibration; as traditional calibration methods, discrete calibration and system-level calibration need to disassemble the upper inertial group and perform calibration on a special turntable in the laboratory, and Calibration time is long

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