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Error calibration method of four-axis redundant inertial navigation system

An inertial navigation system and error calibration technology, which is applied in the error calibration of four-axis redundant inertial navigation system and the field of error parameters of redundant inertial navigation system, can solve the problems of multiple rollover positions, extended calibration time, and complicated turntable control

Pending Publication Date: 2021-04-27
CSSC MARINE TECH CO LTD
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Problems solved by technology

However, for the four-axis redundant inertial navigation system, it is necessary to add more tumbling positions to calibrate the related errors of the inclined axis through the tumbling method, which prolongs the calibration time, and the control of the turntable is complicated, and the accuracy of the turntable is required. Higher

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  • Error calibration method of four-axis redundant inertial navigation system
  • Error calibration method of four-axis redundant inertial navigation system
  • Error calibration method of four-axis redundant inertial navigation system

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Embodiment Construction

[0036] In order to better understand the technical solutions of the present invention, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0037] It should be clear that the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0038] The present application will be described in further detail below through specific embodiments and in conjunction with the accompanying drawings.

[0039] The invention discloses an error calibration method for a four-axis redundant inertial navigation system. The method controls the rotation of the three-axis turntable frame through a pre-designed rotation path, thereby stimulating various errors, and then adopts a two-stage er...

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Abstract

The invention discloses an error calibration method for a four-axis redundant inertial navigation system. The method comprises the following steps of rotating a three-axis turntable according to a set rotating path to obtain a speed error and a position error of the four-axis redundant inertial navigation system in the whole rotating process and actual output values of a gyroscope and an accelerometer; calculating compensated output values of the quadrature gyroscope and the quadrature speedometer according to the speed error and the position error of the four-axis redundant inertial navigation system and actual output values of the quadrature gyroscope and the quadrature speedometer of the four-axis redundant inertial navigation system; and calculating calibrated output values of the oblique gyroscope and the oblique accelerometer according to the compensated output values of the orthogonal gyroscope and the orthogonal acceleration meter and the actual output values of the oblique gyroscope and the oblique accelerometer. According to the calibration method, forward and reverse rotation and rolling transposition for the inclined shaft do not need to be specially added, the error calibration time is shortened, and calibration efficiency is remarkably improved while accuracy of the calibration method is guaranteed.

Description

technical field [0001] The invention relates to the technical field of strapdown inertial navigation error calibration, in particular to an error calibration method for a four-axis redundant inertial navigation system, which is suitable for calibrating the error parameters of a redundant inertial navigation system with a four-axis tilting scheme, and is particularly suitable for the requirements In the case of short calibration time and low turntable accuracy, it is an application to realize four-axis redundant inertial navigation error calibration. Background technique [0002] The traditional inertial navigation system measures the angular velocity and acceleration of the carrier relative to space through an orthogonally installed three-axis gyroscope and accelerometer, and gives the real-time position, velocity and attitude information of the carrier based on the principle of dead reckoning. The navigation accuracy of the inertial navigation system depends largely on the ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005Y02T90/00
Inventor 刘伟高鹏宇朱锦成董彪
Owner CSSC MARINE TECH CO LTD
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