Inertial measurement unit calibration method suitable for shaking base environment

Abstract

The invention discloses an inertial measurement unit calibration method suitable for a shaking base environment, and relates to the technical field of inertial measurement combination test in aerospace strapdown inertial navigation technology. The method comprises the following steps: establishing a simultaneous equation by using a relationship between a first-order intermediate parameter and a first-order error parameter, and solving to obtain the first-order error parameter based on the established simultaneous equation; calculating to obtain a second-order intermediate parameter of the ithposition by utilizing the first-order error parameter, establishing an equation according to a relationship between the second-order intermediate parameter and a second-order error parameter, and solving to obtain the second-order error parameter which is gyro zero offset; and judging whether the residual error of the first-order error parameter and the second-order error parameter is smaller thana set threshold value or not, and if yes, ending. According to the method, the attitude error introduced by the shaking base environment in the initial alignment process is gradually eliminated by adopting an iterative method so that the method is better suitable for calibration in the shaking base environment.

Description

technical field [0001] The invention relates to the technical field of inertial measurement combined testing in aerospace strapdown inertial navigation technology, in particular to an inertial measurement unit calibration method suitable for a shaking base environment. Background technique [0002] The inertial navigation system can provide completely autonomous navigation information, has the advantages of short response time, high reliability, small size, light weight, etc. It is widely used in military and civilian navigation fields such as aircraft and ships, and has important national defense significance and huge economic benefits. However, during the use of the inertial navigation system, its errors will continue to accumulate over time. Currently, two measures can improve the navigation accuracy of the inertial navigation system: one is to design and manufacture higher-precision inertial components, such as using new materials , new technology or new inertial device...

AI Technical Summary

Problems solved by technology

[0004] The currently widely used IMU calibration method needs to be applied in a static base environment, that is, during the entire calibration process, the IMU is in a static state except for flipping, but in actual working conditions, it is difficult to avoid Carrier shaking caused by engine vibration, personnel walking or natural environment (strong wind, surge, etc.), thus greatly limiting the application of calibration technology

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