Error compensation method and system for inertial navigation system
An inertial navigation system and error compensation technology, which is applied in the field of inertial navigation system error compensation and low-precision inertial navigation system error compensation for orbit detection systems, which can solve the influence of navigation accuracy, zero bias repeatability, and long compensation period and other problems to achieve the effect of facilitating engineering implementation, improving measurement accuracy and reducing costs
Pending Publication Date: 2022-04-19
BEIJING AUTOMATION CONTROL EQUIP INST
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[0003] The gyro bias of the low-precision inertial navigation system is usually greater than tens of degrees per hour, and the repeatability of the zero bias has no specific rules. It will change with time and temperature. If the gyro measurement error is not compensated, the navigation will be damaged. Accuracy has a serious impact, which in turn affects the detection accuracy of orbital geometric parameters
Existing compensation methods generally use Kalman filter or turntable, Kalman filter calculation is complex, and turntable compensation needs to install the inertial navigation system on the turntable, the compensation period is long, and real-time online compensation cannot be achieved
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[0016] The present invention as figure 1 As shown, a kind of inertial navigation system error compensation method is provided, comprising the following steps:
[0017] Judging the motion state of the track detection system.
[0018] At the same time, the following judgment conditions are met, and the track detection system is judged to be in the parking state.
[0019] Condition 1, the three-axis gyro compensation number of the X-axis, Y-axis, and Z-axis of the carrier coordinate system is within T Δ The average value of the period satisfies respectively
[0020] Condition 2, the compensation number of the three-axis accelerometer of the X-axis, Y-axis, and Z-axis of the carrier coordinate system is within T Δ The mean value of the period satisfies respectively
[0021] Condition three, the carrier coordinate system X-axis, Y-axis, Z-axis three-axis accelerometer compensation number in T Δ The peak-to-peak value of the accumulated value within the time period shall no...
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The invention provides an error compensation system and method for an inertial navigation system. The error compensation of the inertial navigation system is carried out by judging the motion state of a track detection system, obtaining the gyro measurement error of the inertial navigation system when the track detection system is parked, carrying out online correction on the gyro measurement error of the inertial navigation system and the like. According to the method, the motion state of the track detection vehicle is judged, and the gyro measurement error is corrected on line in the parking period of the track detection vehicle, so that the influence of the gyro measurement error on the precision of the inertial navigation system is effectively inhibited, and the measurement precision of the track geometric parameters of the track detection vehicle is further improved.
Description
technical field [0001] The present invention relates to an inertial navigation system error compensation method and system, in particular to a low-precision inertial navigation system error compensation method and system for an orbit detection system, belonging to the field of orbit detection application technology. Background technique [0002] The vehicle-mounted orbit detection system is centered on inertial measurement, and realizes high-precision measurement of orbital geometric parameters through the information fusion of multiple sensors such as inertial, odometer, satellite, and laser ranging. Among them, the inertial navigation system can continuously provide high-precision position, speed, attitude and other information, and is an indispensable measurement device. High-precision inertial navigation systems are costly and expensive. Although low-precision inertial navigation systems are low in cost, their measurement accuracy cannot meet the high-precision measureme...
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Login to View More IPC IPC(8): G01C25/00G01C21/16
CPCG01C25/005G01C21/183
Inventor 邓继权郭玉胜邹思远刘洋周亚男王海军庄广琛裴新凯
Owner BEIJING AUTOMATION CONTROL EQUIP INST