On-line calibration method for cluster aircraft carrying MEMS gyroscope load

Abstract

The invention discloses an on-line calibration method for a cluster aircraft carrying a MEMS gyroscope load, which belongs to the field of electronic instrument measurement and calibration. The methodcomprises the specific that a calibration path is designed through a calibration path design principle, and the wingman MEMS inertial component output is collected in real time and the position, speed and attitude information of the wingman are solved in real time; a long aircraft measures the length and relative distance of the wingman and sends the position thereof and relative distance to thewingman; the wingman takes the long and wingman's relative distance as the observational measurement, and calibrates the error parameters of the MEMS gyroscope through extended Kalman filtering; the filtering result is compensated back to inertial navigation solution, and the error parameters of the MEMS gyroscope are output; and repeated filtering iteration is carried out to acquire the 12-dimensional error parameters of the MEMS gyroscope. According to the invention, the method does not need the external information of the aircraft cluster as a reference; on-line calibration of the 12-dimensional error parameters of the MEMS gyroscope is realized; and the method has the advantages of simple calibration path and fast calibration process.

Description

technical field [0001] The invention belongs to the field of measurement and calibration of electronic instruments, and in particular relates to an online calibration method for MEMS gyroscope loads carried by cluster aircraft. Background technique [0002] Compared with single aircraft, swarm aircraft can optimize the assignment of tasks, improve the completion of tasks, and improve the efficiency and safety of aircraft systems. Therefore, swarm aircraft have been increasingly used in the execution of various tasks. [0003] The swarm aircraft is usually equipped with multiple navigation systems. The inertial navigation system (INS, hereinafter referred to as inertial navigation system) is the most important navigation system in the aircraft due to its advantages of being less susceptible to external interference and having good real-time performance. The main sensors of the inertial navigation system are the gyroscope and the accelerometer. The gyroscope collects the angul...

AI Technical Summary

Problems solved by technology

[0008] None of the above documents mentioned the use of the information advantage of the aircraft cluster to calibrate the MEMS gyroscope. In the literature, a small amount of gyroscope errors were calibrated under a simple calibration path, or a complex calibration path was designed to correct most of the errors of the MEMS gyroscope. Parameters are calibrated, and the calibration path is difficult to achieve

Images