Hexahedral prism and IMU installation error calibration method based on turntable transmission
A calibration method and installation error technology, applied in the field of navigation, can solve the problems of insufficient calibration accuracy and difficult implementation, and achieve the effects of high calibration accuracy, ensuring accuracy and improving accuracy.
Active Publication Date: 2020-03-10
LEADOR SPATIAL INFORMATION TECH CORP
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[0006] In view of this, the present invention provides a hexahedral prism and IMU installation error calibration method based on turntable transfer, to solve or at least partially solve the technical problems of implementation difficulties and insufficient calibration accuracy existing in the methods in the prior art
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[0040] Aiming at the problems of high-precision POS system and SAR installation error angle calibration accuracy and implementation operation is difficult to guarantee in practical applications, a hexahedral prism and IMU installation error calibration method based on turntable transfer is proposed, which solves the problem of high-precision POS and SAR radar. The actual demand problem of installation error angle calibration, this method is not only simple to operate and easy to implement, but also has high calibration accuracy.
[0041] In order to achieve the above objective, the main idea of the present invention is as follows:
[0042] The hexahedral prism is fixedly connected to the IMU through the design of fastened and reliable structural parts, that is, the high-precision POS system of this scheme comes with a hexahedral prism structure; firstly, the angular relationship between the hexahedral prism axis system and the turntable axis system is measured by a high-precision ...
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The invention discloses a hexahedral prism and IMU (Inertial Measurement Unit) installation error calibration method based on turntable transmission. The method comprises the steps that: a hexahedralprism is fixedly connected with an IMU through a structural part, and then is mounted at the axis center of a three-axis turntable; a relative angle relationship between the hexahedral prism and a turntable shaft system is calculated through a gyroscope; the relative angle relationship between the IMU and the turntable shaft system is calculated through the three-axis turntable; and finally, according to the relative angle relationship between the hexahedral prism and the turntable shaft system and the relative angle relationship between the IMU and the turntable shaft system, an angle relation between the hexahedral prism and the IMU is obtained through coordinate transformation. The method provided by the invention can solve the problem that the installation error angle calibration precision and the implementation operation are difficult to guarantee in practical application, is simple to operate and easy to realize, and has higher calibration precision.
Description
Technical field [0001] The invention relates to the technical field of navigation, in particular to a method for calibrating the installation error of a hexahedral prism and an IMU based on a turntable. Background technique [0002] With the development of high-precision POS (Position and Orientation System) technology, high-precision, miniaturized POS has gradually been applied in airborne SAR (Synthetic Aperture Radar) systems. [0003] In the process of implementing the present invention, the inventor of the present application discovered that the prior art method has at least the following technical problems: [0004] High-precision POS and SAR are fixedly connected, and accurate position and attitude information is obtained through POS measurement to obtain the position and attitude of the antenna phase center, which in turn assists in obtaining high-quality SAR images. Since the calibration accuracy of the misalignment angle of the SAR antenna and the IMU (Inertial Measuremen...
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IPC IPC(8): G01C25/00G01S7/40
CPCG01C25/00G01S7/40
Inventor 郭晟阮双双邵慧超刘建涂振
Owner LEADOR SPATIAL INFORMATION TECH CORP