Rotation modulation method of MEMS inertial navigation system

An inertial navigation system and rotation modulation technology, applied in the field of inertial navigation, can solve the problem of not fully considering the zero bias error, MEMS inertial navigation system error compensation cannot be perfected, not considering the constant zero bias error and scale factor symmetry error, etc. problem, to achieve high reliability

Pending Publication Date: 2020-07-10
HUNAN AIRTOPS INTELLIGENT TECH CO LTD
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  • Abstract
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  • Application Information

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Problems solved by technology

The invention does not design a rotation scheme for the error characteristics of the MEMS inertial navigation system, and does not specifically consider the constant zero bias error, scale factor error, and scale factor symmetry error
[0014] (2) The publication number is CN107063309A, and the patent name is "A Scale Error Compensation Strategy for Rotary Strapdown Inertial Navigation Gyro". The purpose of compensating the scale factor error of the gyroscope in the two directions of the reverse direction and the reverse direction respectively, but the constant zero bias error and the symmetry error of the scale factor are not considered.
[0015] (3) The publication number is CN207147501U, and the patent name is "combined rotary modulation micro-inertial navigation system". This patent provides a combined rotary modulation micro-inertial navigation system, including a rotary modulation micro-inertial assembly and a The static micro-inertial component measured by the modulated micro-inertial component, the static micro-inertial component is fixedly connected to the carrier, and the rotationally modulated micro-inertial component is rotatably set on the carrier. This system does not fully consider the zero offset error , scale factor error and scale factor symmetry error, etc., the error compensation for the MEMS inertial navigation system cannot be perfected

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  • Rotation modulation method of MEMS inertial navigation system
  • Rotation modulation method of MEMS inertial navigation system
  • Rotation modulation method of MEMS inertial navigation system

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Embodiment 1

[0041] Embodiment 1 of the present invention provides a MEMS inertial navigation system rotation modulation method,

[0042] The flow chart of the MEMS inertial navigation system rotation modulation method is as follows figure 1 As shown, it is divided into the following main steps:

[0043] (1) The system is started, the navigation computer is turned on, the MEMS inertial navigation system and the two-axis turntable are started.

[0044] (2) Set the rotation track of the turntable as figure 2 shown.

[0045] (3) Install the MEMS inertial navigation system on the turntable, collect the data of the gyroscope and accelerometer in three axes, and collect and store it by the computer through the adapter board.

Embodiment 2

[0047] Embodiment 2 of the present invention provides a system of MEMS inertial navigation system rotation modulation method, the composition diagram is as follows image 3 As shown, the components and their main functions are as follows:

[0048] MEMS inertial navigation system: output inertial data.

[0049] Turntable: MEMS inertial navigation system is installed to rotate according to the set trajectory.

[0050] Navigation computer: collect and store the data of MEMS inertial navigation system.

[0051] Airborne connection equipment: used to connect MEMS accelerometer and computer interface, serial port, adapter board, etc.

[0052] It should be noted that Micro-INS (Micro-Inertial-NavigationSystem), referred to as "Micro-Inertial Navigation System", is a micro-inertial navigation system based on Micro-Electro-Mechanical System (MEMS, Micro-Electro-MechanicalSystem) sensor technology. .

[0053] Turntable: Refers to the worktable of a machine tool that can be rotated t...

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Abstract

The invention provides a rotation modulation method of an MEMS inertial navigation system. The rotation modulation method comprises the following steps: step 1, starting the system; step 2, setting arotating track of a turntable; and step 3, mounting the MEMS inertial navigation system on the turntable, acquiring data of a gyroscope and an accelerometer, and acquiring and storing the data by a computer through an adapter plate. In the invention, error modulation of the MEMS inertial navigation system is performed by using a biaxial sixteen-position continuous rotation scheme so that a zero offset error, a scale factor error and a scale factor symmetry error of the MEMES inertial navigation system are compensated.

Description

technical field [0001] The invention relates to the technical field of inertial navigation, in particular to a rotation modulation method of a MEMS inertial navigation system. Background technique [0002] MEMS inertial navigation system plays a vital role in the field of navigation. However, constant zero bias error, scale factor error and scale factor symmetry error are several errors that cannot be ignored in MEMS inertial navigation system. In today's applications, there are relatively many rotation modulation schemes based on high-precision inertial navigation systems such as optics, but there are relatively few dual-axis rotation schemes based on MEMS inertial navigation systems, and the error compensation effect is poor. [0003] The publication number is CN101900559B, and the patent name is "A Two-axis Rotation Modulation Method for Strapdown Inertial Navigation System". It includes six steps of setting coordinate system, installing gyroscope and accelerometer, inst...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 罗世彬王思远
Owner HUNAN AIRTOPS INTELLIGENT TECH CO LTD
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