A Calibration Method of Strapdown Inertial Group Three-axis Accelerometer

Abstract

The invention discloses a calibration method for a three-axis accelerometer of a strapdown inertial group, and relates to the technical field of inertial navigation. The calibration method calculates the zero position deviation and the scale factor deviation through the pitch angle of the static position, the roll angle and the output of the three-axis accelerometer, and realizes the calibration of the zero deviation and the scale factor of the three-axis accelerometer; In the calibration method, there is no limit to the roll angle or pitch angle of the inertial group rotating in the horizontal position, which can be less than 90 degrees or greater than 90 degrees. For the inertial group that does not have an angle of more than 90 degrees, the zero offset and scale factor need to be checked The calibration of the three-axis accelerometer can also be carried out under changing circumstances, and at least four positions can be changed during calibration. Time, improve the calibration efficiency, can be applied to mass production needs.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and in particular relates to a method for calibrating the zero offset and scale factor of a three-axis accelerometer through a series of angular position changes of the inertial group. Background technique [0002] The three-axis accelerometer of the strapdown inertial group can provide the attitude angle during inertial navigation. The error of the three-axis accelerometer has a great influence on the accuracy of the inertial navigation. Therefore, the errors of the three-axis accelerometer must be checked before use. The parameters are calibrated, and the corresponding compensation is made according to the calibration results during the processing. [0003] The calibration of the strapdown accelerometer can be divided into discrete calibration and system-level calibration. The discrete calibration directly uses the accelerometer output as the observation value, and uses the least s...

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Problems solved by technology

[0005] Aiming at the problem in the prior art that the inertial group does not have the ability to meet the calibration of the accelerometer when it is turned over an angle of more than 90 degrees, the present invention provides a calibration method for the three-axis accelerometer of the strapdown inertial group, which is carried out through a series of angular position changes of the inertial group. The calibration of the zero bias and scale factor of the accelerometer can realize the calibration of the accelerometer when the inertial group does not need to be turned over an angle of more than 90 degrees, and can achieve the accuracy of the existing calibration method

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