A calibration method for hexahedral prism and imu installation error based on turntable transfer
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, guaranteed accuracy and excellent calibration repeatability.
Active Publication Date: 2020-06-23
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 problem that the installation error angle calibration accuracy and implementation operation of the high-precision POS system and SAR are difficult to guarantee in practical applications, a hexahedral prism and IMU installation error calibration method based on the transfer of the turntable is proposed, which solves the problem of high-precision POS and SAR radar. For the actual demand of calibration of installation error angle, this method is not only easy to operate and easy to implement, but also has high calibration accuracy.
[0041] In order to achieve the above object, the main idea of the present invention is as follows:
[0042] The hexahedral prism is fixedly connected to the IMU by designing fastening and reliable structural parts, that is, the high-precision POS system of this scheme has a hexahedral prism structure; firstly, the angular relationship between the hexahedral prism axis system and the turntable axis system is measured by a high-pr...
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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 field of navigation technology, in particular to a method for calibrating installation errors of a hexahedral prism and an IMU based on turntable transfer. Background technique [0002] With the development of high-precision POS (Position and Orientation System) technology, high-precision, miniaturized POS has gradually been applied in the airborne SAR (Synthetic Aperture Radar) system. [0003] In the process of implementing the present invention, the inventor of the present application found that the method of the prior art has at least the following technical problems: [0004] The high-precision POS is fixedly connected to the SAR, and the precise position and attitude information obtained through POS measurement is converted to obtain the position and attitude of the antenna phase center, and then assists in obtaining high-quality SAR images. Since the calibration accuracy of the SAR antenna and IMU (Inertial Measurem...
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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