A Self-Calibration Method for Optical Fiber Strapdown Inertial Navigation System

A fiber-optic strapdown inertial navigation and self-calibration technology, applied in the field of strapdown inertial navigation systems, to achieve the effects of improving calibration accuracy, meeting rapidity requirements, and improving observability

Active Publication Date: 2022-07-22
中科长城海洋信息系统有限公司
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Problems solved by technology

[0004] The present invention aims to solve the problems described above

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  • A Self-Calibration Method for Optical Fiber Strapdown Inertial Navigation System
  • A Self-Calibration Method for Optical Fiber Strapdown Inertial Navigation System
  • A Self-Calibration Method for Optical Fiber Strapdown Inertial Navigation System

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Embodiment Construction

[0029] In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. It should be noted that, the embodiments in the present application and the features in the embodiments may be arbitrarily combined with each other if there is no conflict.

[0030] When the two-position method is used for parameter estimation, the carrier heading can be changed by 180 degrees to achieve the best effect. However, cons...

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Abstract

The invention provides a self-calibration method for an optical fiber strapdown inertial navigation system, which includes: northward speed error, eastward speed error, horizontal misalignment angle, azimuth misalignment angle, gyro constant value offset and accelerometer constant value offset The quantity is the state quantity, and the state equation is established; the northward velocity error and the eastward velocity error are used as the quantity measurement, and the measurement equation is established; the state equation and the measurement equation constitute a Kalman filter model; When the SINS is located at the initial position, the state quantity is calculated according to the Kalman filter model; after a preset time period, the heading angle of the optical fiber SINS is rotated by 180 degrees, and then according to the Kalman filter The filter model calculates the state quantity, realizes the self-calibration of the constant value offset of the gyro and the constant value of the accelerometer, improves the observability of the system, and can improve the calibration accuracy while meeting the requirement of rapidity.

Description

technical field [0001] The invention relates to the technical field of strapdown inertial navigation systems, in particular to a self-calibration method of an optical fiber strapdown inertial navigation system. Background technique [0002] Error calibration and compensation are important means to improve the accuracy of the inertial navigation system, but the parameter calibration of the inertial navigation system must meet a number of harsh conditions, such as a debugging site with strict environmental control capabilities, large turntable equipment with high machining accuracy, etc. . Carriers equipped with inertial navigation system equipment can hardly have these adjustments, and various parameters and error coefficients of the inertial navigation system will change with the use environment and use time. Therefore, real-time test calibration is particularly important. [0003] With the development and improvement of calibration technology at home and abroad, technologi...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 王佳安唐校兵吴建波李友如石亚莉
Owner 中科长城海洋信息系统有限公司
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