Adaptive accelerometer temperature compensation method for inertial navigation

Abstract

The invention discloses an adaptive accelerometer temperature compensation method for inertial navigation. The method comprises the following steps: S1, testing multiple groups of accelerometer data output by inertial navigation in a full temperature range; S2, calculating and analyzing the plurality of groups of accelerometer data obtained in the step S1 to obtain output characteristics of the plurality of groups of accelerometers; S3, establishing a plurality of groups of mathematical models according to the output characteristics of the accelerometers in the step S2; and S4, selecting an optimal mathematical model from the multiple groups of mathematical models as a temperature compensation model of a current working state to perform temperature compensation according to working state parameters of inertial navigation startup. The method has the advantages that the characteristic of the accelerometers changing along with temperature is analyzed by using big data by collecting outputdata of the accelerometers in a full temperature range for multiple times, various mathematical models fitted by segmented straight lines or curves are obtained, different mathematical models are utilized to match data output characteristics under different working conditions, and the measurement precision of the accelerometers and the effectiveness of the temperature compensation method are improved.

Description

technical field [0001] The invention relates to the field of inertial navigation, in particular to an adaptive accelerometer temperature compensation method for inertial navigation. Background technique [0002] The inertial navigation system can output position, attitude and speed information under the condition of a given initial position, and has been widely used in the fields of aviation, spaceflight and navigation. It has become an important navigation device for launch vehicles, strategic weapons and submarines. In addition, inertial navigation systems have also been widely used in civil fields, such as coal mining, oil drilling and pipeline laying. Therefore, inertial navigation technology is becoming more and more important in military activities and daily life. [0003] Inertial navigation is the main component of the inertial navigation system. Its main function is to measure the angular velocity and apparent acceleration of the three axes of the carrier in real t...

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Problems solved by technology

However, these two methods require an accurate mathematical model between the output data of the accelerometer and the temperature change value. In the process of engineering application, there is a certain uncertainty in the change of the accelerometer with the temperature. There will be a certain deviation in the middle, that is, the repeatability of the zero bias of the accelerometer is poor, so it is difficult for the accelerometer to use a single curve fitting or segmented line fitting temperature compensation method to improve the measurement accuracy

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