Calibration method and orientation method for installation errors of laser strapdown inertial measurement unit

Abstract

The invention provides a calibration method and an orientation method for installation errors of a laser strapdown inertial measurement unit, and solves the technical problem that an error exists in the measurement of an existing fixedly-connected laser strapdown inertial measurement unit. The method comprises the steps of establishing an attitude matrix of a laser strapdown inertial measurement unit coordinate system b relative to a launcher coordinate system B, establishing an attitude matrix of the launcher coordinate system B relative to a navigation coordinate system n, forming an attitude matrix of the laser strapdown inertial measurement unit coordinate system b relative to the navigation coordinate system n according to the attitude matrix ; and obtaining a pitch angle and roll angle calibration pitch installation error and a roll installation error output by the laser strapdown inertial measurement unit according to the pitch angle and roll angle changes of the attitude matrixin the leveling working condition of the launcher. It can be seen from the implementation process that the calibration method is irrelevant to the alignment precision, the inertial navigation precision in a short time is high, calibration is simple and easy to implement, and additional high-precision north seeker auxiliary measurement is not needed.

Description

technical field [0001] The invention relates to the technical field of orientation, in particular to a method for calibrating installation errors of laser strapdown inertial groups. Background technique [0002] In the prior art, in order to improve the initial aiming accuracy of the inclined launch system, the error caused by the intermediate transmission link is reduced by installing the laser strapdown inertial group for measuring the attitude and the launch frame. The erection has a pitching motion, and the laser strapdown inertial group can measure the azimuth angle of the launcher in real time during the pitching motion. There is an installation error between the laser strapdown inertial group and the launcher, which is specifically manifested as: under the condition of the launch vehicle being leveled, the azimuth of the launcher system should remain unchanged during the erection of the launcher, but in fact due to the laser The azimuth axis of the strapdown inertial...

AI Technical Summary

Problems solved by technology

There is an installation error between the laser strapdown inertial group and the launcher, which is specifically manifested as: under the condition of the launch vehicle being leveled, the azimuth of the launcher system should remain unchanged during the erection of the launcher, but in fact due to the laser The azimuth axis of the strapdown inertial group is not parallel to the azimuth axis of the launcher (that is, there is an installation error between the two), which causes the azimuth output of the laser strapdown inertial group to accurately reflect the azimuth of the launcher during the erection process of the launcher horn

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