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Method for separating attitude angle error of inertial measurement system based on centrifugal machine excitation

An inertial measurement and error separation technology, which is applied in the aviation field of aerospace and high-precision inertial navigation, can solve the problems that cannot meet the error separation of inertial devices, and achieve the effect of improving confidence, high reliability, and reducing index requirements

Pending Publication Date: 2021-11-26
BEIJING INST OF AEROSPACE CONTROL DEVICES
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Problems solved by technology

However, in the actual application process, the speed stability of the developed centrifuge can only reach 1×10 -4 , cannot meet the requirements of inertial device error separation

Method used

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  • Method for separating attitude angle error of inertial measurement system based on centrifugal machine excitation
  • Method for separating attitude angle error of inertial measurement system based on centrifugal machine excitation
  • Method for separating attitude angle error of inertial measurement system based on centrifugal machine excitation

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Embodiment

[0116] In order to illustrate the inertial measurement system error separation method based on the large overload excitation of the centrifuge provided by the present invention, the preferred embodiment is:

[0117] Suppose the arm length of the centrifuge is 2R=6m, and the inertial measurement system is placed on the reverse platform of the centrifuge, such as figure 1 shown. The relationship among centrifuge base, lever arm and inverted platform coordinate system is as follows: figure 2 shown.

[0118] In a certain test, the sampling time of the rotation angle of the centrifuge is ΔT=0.02s, the running time is 215s, and the total number of data N=10750. The centripetal acceleration during rotation is as image 3 shown.

[0119] Attitude angle φ after navigation solution x Such as Figure 4 shown, but the measured platform system frame angle ψ x output as Figure 5 As shown, the error value δφ of the two x = φ x -ψ x Such as Figure 6 As shown, it can be seen tha...

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Abstract

The invention discloses a method for separating an attitude angle error of an inertial measurement system based on centrifugal machine excitation. The method includes that the characteristic that the orientation of a centrifugal machine reverse rotation platform relative to the ground is unchanged is utilized, and inertial platform system frame angle information is taken as observed quantity; an attitude angle error with an error can be obtained by comparing the observed quantity with an attitude angle calculated by an inertial navigation attitude, and the error is mainly caused by dynamic errors of a gyroscope and an inertial measurement system; various errors related to the attitude angle error can be separated by adopting a least square method, and the precision of inertial navigation can be improved through error compensation.

Description

technical field [0001] The invention relates to a method for separating attitude angle errors of an inertial measurement system based on centrifuge excitation, in particular to a calibration and compensation method for gyroscope coefficients and dynamic error items that affect attitude errors, and is mainly used in the aviation and aerospace fields of high-precision inertial navigation. Background technique [0002] Inertial navigation is widely used in the fields of missiles, aircraft, ships and weapons. Its main function is to determine the position, velocity and attitude information of the carrier relative to the navigation system in real time. In the process of realizing the above navigation functions, the accuracy of inertial devices (including gyroscopes and accelerometers) directly determines the accuracy of attitude, position and speed. In order to achieve high-precision navigation, it is necessary to improve the accuracy of the accelerometer from the hardware, but b...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C25/00
CPCG01C21/183G01C25/005Y02T90/00
Inventor 魏宗康
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES
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