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System-level calibration method for non-orthogonal angle contained in biaxial rotation inertial navigation system

An inertial navigation system, system-level calibration technology, applied in the field of navigation systems, can solve the problem of not considering the influence of non-orthogonal angles between rotating axes, and achieve the effects of improving calibration accuracy, improving navigation accuracy, and improving integrity

Pending Publication Date: 2021-11-12
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Application Information

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Problems solved by technology

[0005] In order to solve the problem that most of the existing dual-axis RINS calibration technologies do not consider the influence of non-orthogonal angles between rotating shafts on calibration, the present invention provides a system-level calibration method that includes non-orthogonal angles in a dual-axis rotary inertial navigation system. The system-level self-calibration takes into account the non-orthogonal angle between the rotating shafts, which improves the accuracy of self-calibration

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  • System-level calibration method for non-orthogonal angle contained in biaxial rotation inertial navigation system
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  • System-level calibration method for non-orthogonal angle contained in biaxial rotation inertial navigation system

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[0065] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0066] The present invention adopts the method of Kalman filtering to carry out system-level self-calibration for biaxial RINS. The non-orthogonal angle between the rotating shafts was considered in the establishment of the error model, and the error parameters including the non-orthogonal angle in the biaxial RINS were calibrated through a reasonable rotation scheme. The flow chart of the system-level self-calibration method for dual-axis RINS including non-orthogonal angles is shown in figure 1 As shown, the specific processing steps are:

[0067] S1: Obtain the IMU angular velocity output by the gyroscope and the IMU acceleration output by the accelerometer in the d...

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Abstract

The invention provides a system-level calibration method for a non-orthogonal angle contained in a biaxial rotation inertial navigation system, a biaxial RINS error model containing the non-orthogonal angle between rotating shafts is constructed, a corresponding self-calibration rotation scheme and a Kalman filter are designed, the self-calibration method can calibrate double-shaft RINS error parameters including the non-orthogonal angle, the calibration precision of the biaxial RINS is improved, and the navigation precision of the biaxial RINS can be improved through the compensated calibration result.

Description

technical field [0001] The invention belongs to the technical field of navigation systems, and in particular relates to a system-level calibration method including non-orthogonal angles in a dual-axis rotary inertial navigation system. Background technique [0002] The Strapdown Inertial Navigation System (SINS) estimates the current attitude, velocity and position based on the information obtained by the Inertial Measurement Unit (IMU). Due to the error of the inertial device in the IMU, the output of the IMU will also contain errors, which will eventually reduce the navigation accuracy of SINS. A feasible and easy-to-operate method to reduce the error of the inertial device is to rotate the IMU periodically, so that the constant error of the inertial device is averaged over one rotation cycle, thereby eliminating it. Dual-axis rotary inertial navigation system (Rotational Inertial Navigation System, RINS) is an inertial navigation system using IMU rotation technology, whi...

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 缪玲娟林宇森周志强
Owner BEIJING INSTITUTE OF TECHNOLOGYGY