Indexing mechanism of rotary strapdown inertial measurement unit and IMU synchronous calibration and compensation method
A technology of indexing mechanism and strapdown inertial group, applied in the field of strapdown inertial navigation, can solve the problems of poor carrier attitude calculation accuracy, asynchronous time error between indexing mechanism and IMU, etc., and achieve the effect of improving calculation accuracy
Pending Publication Date: 2022-03-11
XIAN AEROSPACE PRECISION ELECTROMECHANICAL INST
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Problems solved by technology
[0005] Aiming at the problem that the rotation axis deflection exists when the indexing mechanism in the rotary strapdown inertial group drives the IMU to rotate, and there is a time asynchronous error between the indexing mechanism and the IMU, which leads to poor calculation accuracy of the carrier attitude during the inertial group rotation, the present invention provides a Synchronous Calibration and Compensation Method of Indexing Mechanism and IMU of Rotary Strapdown Inertial Group
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[0031] In order to make the object, technical solution and advantages of the present invention clearer, the embodiments disclosed in the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0032] In the actual process, the two-axis indexing mechanism has an inner shaft and an outer shaft, and the three-axis indexing mechanism has an inner shaft, a middle axis, and an outer shaft. The method of the present invention can obtain the rotational deflection angle of any specified rotating shaft in the indexing mechanism, and the time asynchronous error existing between the indexing mechanism and the IMU.
[0033] like figure 1 As shown, the IMU coordinate system is recorded as the carrier coordinate system s (the three coordinate axes in the carrier coordinate system s are respectively recorded as (Xs, Ys, Zs)), and the IMU coordinate system when the indexing mechanism is at 0° is taken as the carrier coordinate system s 0 (...
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The invention discloses a synchronous calibration and compensation method for an indexing mechanism and an IMU (Inertial Measurement Unit) of a rotary strapdown inertial measurement unit, the method greatly improves the carrier attitude calculation precision in the inertial measurement unit rotation process, and the method mainly comprises the following steps: firstly, eliminating the influence of zero offset errors of a gyroscope and an accelerometer on an alignment result by utilizing double-position alignment; secondly, the attitude tracking mode can avoid the influence of speed errors and position errors on attitude measurement; in the process of driving the indexing mechanism to rotate anticlockwise by 180 degrees, estimating a rotating shaft deflection angle and an asynchronous error by using an attitude quaternion error model; after the error between the indexing mechanism and the IMU is calibrated, the calibration result is substituted into an attitude conversion formula, and the attitude information of the IMU is converted into the attitude information of a carrier to complete the compensation of the deflection angle of a specified rotating shaft of the indexing mechanism and the time asynchronous error between the indexing mechanism and the IMU.
Description
technical field [0001] The invention belongs to the technical field of strapdown inertial navigation, and in particular relates to an indexing mechanism of a rotating strapdown inertial unit and an IMU synchronous calibration and compensation method. Background technique [0002] A certain type of strapdown inertial group (hereinafter referred to as the inertial group) is composed of a dual-axis rate indexing mechanism + IMU, and its specific structure includes: three 120-type fiber optic gyroscopes, three quartz flexible accelerometers, and a dual-axis rate indexing mechanism , electronic circuits and software. [0003] The inertial group can be used to provide real-time attitude information, speed information and position information of the vehicle for the positioning and orientation system, and has functions such as inertial measurement, self-alignment, self-calibration, self-detection, rotation modulation, and heading angle isolation. The inertial group self-alignment a...
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Login to View More IPC IPC(8): G01C21/16G01C21/20G01C25/00
CPCG01C21/16G01C21/20G01C25/00
Inventor 谢波徐兵华贺继超江一夫
Owner XIAN AEROSPACE PRECISION ELECTROMECHANICAL INST