Inertial measurement unit field calibration method based on single-axis turntable

Abstract

The invention relates to an inertial measurement unit field calibration method based on a single-axis turntable, wherein the method is technically characterized by comprising the steps: establishing a single-axis turntable model, and establishing the following coordinate systems according to the frame structure of the single-axis turntable: a ground horizontal coordinate system, a turntable rotating shaft coordinate system, a turntable plane coordinate system, a gyro three-axis coordinate system and an accelerometer three-axis coordinate system; establishing a gyro accelerometer inertial component model; and establishing a square box coordinate system, wherein three coordinate axes of the square box coordinate system are perpendicular to one another, and the directions of the three axes are parallel to the pointing directions of a gyro and an accelerometer; the square box provided with an inertial measurement unit is mounted on the single-axis turntable, and then inertial measurement unit field calibration is carried out. The calibration method is reasonable in design, the calibration function of the inertial measurement unit can be achieved only through the single-axis position turntable and the hexahedron square box which are small in size, meanwhile, no leveling requirement exists for installation of the turntable, limitation to the calibration site is small, field installation and application are facilitated, and thus a large amount of time is saved.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and relates to an inertial device testing method, in particular to an inertial group on-site calibration method based on a single-axis turntable. Background technique [0002] With the advancement and development of navigation technology, inertial navigation is a branch of technology, and the calibration of inertial measurement unit, the core component of inertial navigation equipment, has become a very important key technology. [0003] The traditional inertial group calibration technology usually uses a three-axis turntable for calibration. The three-axis turntable technology is relatively mature. However, the turntable device used for calibration has a large volume and weight, relatively high requirements for the experimental site, cumbersome installation and commissioning, and poor mobility. Once calibrated Once the device is installed, it cannot be moved. Therefore, this calibra...

AI Technical Summary

Problems solved by technology

[0003] The traditional inertial group calibration technology usually uses a three-axis turntable for calibration. The three-axis turntable technology is relatively mature. However, the turntable device used for calibration has a large volume and weight, relatively high requirements for the experimental site, cumbersome installation and commissioning, and poor mobility. Once calibrated After the device is installed, it cannot be moved

Therefore, this calibration method cannot meet the emergency calibration requirements of the inertial navigation equipment test site

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