Inertial navigation geographic coordinate system consistency calibration method

Abstract

The invention discloses an inertial navigation geographic coordinate system consistency calibration method, which comprises the following steps of: establishing a physical reference of a three-axis turntable by using the three-axis turntable, and carrying out inertial navigation calibration; the three-axis rotary table is composed of three mutually orthogonal shaft systems, a carrier mounting plate and a control cabinet. The carrier mounting plate is integrated with an inner ring frame of the three-axis turntable and is used as a connecting plate for fixing a load; the control cabinet is used for controlling the three-axis turntable shaft system to drive the carrier mounting plate and the inertial navigation to rotate according to a certain strategy; the establishment of the physical reference of the three-axis turntable is that the physical reference is designed on the carrier mounting plate, and the physical reference is parallel to the axis of the three-axis turntable. According to the calibration method, the navigation coordinate system is directly established on the physical reference, and the inertial navigation coordinate system is directly calibrated on the physical reference, so that the physical reference is the navigation coordinate system and is also a geographic coordinate system, and the calibration method has links such as inertial navigation true-free heading attitude measurement calibration in batch production, and has the characteristics of quick interchange and the like.

Description

Technical Field

[0001] The invention patent relates to an inertial navigation calibration method, specifically to an inertial navigation geographic coordinate system consistency calibration method. Background Art

[0002] The inertial navigation system contains three accelerometers and three gyroscopes and other inertial sensors, which are installed orthogonally inside the inertial navigation system and are sensitive to the inertial motion information of the six degrees of freedom in space. During the production process, the inertial navigation system needs to be calibrated to establish an inertial navigation coordinate system. The principle is that the inertial navigation system is fixed on a turntable, and the three-axis turntable is rotated in a certain strategy. The three-axis turntable axis system is used as the reference coordinate system to calculate the transformation matrix between the spatial degrees of freedom that the inertial sensor is sensitive to and the reference coordinate system. Taking the reference coordinate system as the inertial navigation coordinate system, the transformation matrix is ​​the installation error angle between the inertial sensor and the navigation coordinate system, and the inertial motion information of the carrier in the navigation coordinate system can be obtained.

[0003] When mass-producing inertial navigation systems, the turntable axis system is used as the navigation coordinate system during the calibration process. However, the inertial navigation system is fixed on the turntable without repeatability, and there is a random installation deflection angle [α, β, γ] between the inertial navigation coordinate system and the inertial physical reference. During the subsequent debugging process, each set of inertial navigation systems needs to use other technical means to measure the true heading information of the physical reference to obtain the inertial navigation coordinate system, and then use its own navigation coordinate system to complete the navigation solution to obtain the heading information, calculate the installation deflection angle, and convert the solution completed by the navigation coordinate system to the geographic coordinate system. This method has many error sources and a cumbersome process. In addition, the installation deflection angles between inertial navigation systems are inconsistent, which is easy to confuse and make mistakes. Therefore, it is urgent to design an inertial navigation geographic coordinate system consistency calibration method to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a method for calibrating consistency of an inertial navigation geographic coordinate system to solve the above-mentioned deficiencies in the prior art.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] The invention discloses a method for calibrating consistency of an inertial navigation geographic coordinate system, comprising a three-axis turntable, establishing a physical reference of the three-axis turntable, and performing inertial navigation calibration.

[0007] The three-axis turntable is composed of three mutually orthogonal axis systems, a carrier mounting plate, and a control cabinet;

[0008] The carrier mounting plate is integrated with the inner ring frame of the three-axis turntable and serves as a connecting plate for fixing the load (inertial navigation);

[0009] The control cabinet is used to control the axis system of the three-axis turntable to drive the carrier mounting plate and the inertial navigation system to rotate according to a certain strategy;

[0010] The establishment of the physical reference of the three-axis turntable is to design a physical reference on the carrier mounting plate, and the physical reference is parallel to the axis system of the three-axis turntable;

[0011] The inertial navigation calibration comprises the following steps:

[0012] Step 1: Fix the inertial navigation system on the carrier mounting plate. During installation, ensure that the physical reference of the inertial navigation system is aligned with the physical reference of the three-axis turntable carrier mounting plate.

[0013] Step 2: Control the three-axis turntable to rotate according to a certain strategy;

[0014] Step 3: Compare the rotation information of the three-axis turntable with the sensitive inertial motion information of the three gyroscopes and three accelerometers of the inertial navigation system, take the axis system of the three-axis turntable as the navigation coordinate system, and solve the installation error matrix between the inertial sensor and the navigation coordinate system;

[0015] Step 4: Write the installation error matrix of the inertial sensor into the inertial navigation Flash to complete the calibration.

[0016] Preferably, the step one comprises three parts: establishing a physical reference by means of a turntable carrier mounting plate; establishing a reference transfer carrier and installing the inertial navigation system onto the turntable via the reference transfer carrier.

[0017] Preferably, the physical reference for establishing the physical reference of the turntable carrier mounting plate is the mounting bottom surface and the mounting backing surface, and the physical reference is adjusted so that the mounting bottom surface is perpendicular to the turntable outer ring axis, the mounting backing surface is perpendicular to the mounting bottom surface, and parallel to the middle ring axis.

[0018] Preferably, the spatial coordinate system constructed by the mounting bottom surface and the mounting back surface is parallel to the axis system of the three-axis turntable. After establishment, the physical reference on the carrier mounting plate is kept fixed to the turntable without relative displacement.

[0019] Preferably, the reference transfer carrier is established, and different inertial navigation systems are transferred to the physical reference of the carrier mounting plate by equipping different reference transfer carriers. The reference transfer carrier is provided with two groups of interfaces (group A and group B), group A and group B are respectively arranged on the mounting bottom surface and the mounting back surface, group A cooperates with the turntable carrier mounting plate to achieve repeated positioning, and group B cooperates with the inertial navigation system to achieve repeated positioning.

[0020] Preferably, the inertial navigation system is installed on the turntable through a reference transfer carrier, and the inertial navigation system is matched with the mounting bottom surface and mounting back surface of the reference transfer carrier group B to achieve repeated positioning, and then matched with the physical reference of the state carrier mounting plate through the mounting bottom surface and mounting back surface of group A to achieve repeated positioning.

[0021] Preferably, the physical reference of the inertial navigation system constructed with the installation bottom surface and the installation backing surface is consistent with the turntable coordinate system.

[0022] In the above technical scheme, the present invention provides a method for calibrating the consistency of an inertial navigation geographic coordinate system. This calibration method aligns the inertial navigation physical reference with the turntable coordinate system during the calibration production process, and directly calibrates the inertial navigation coordinate system to the physical reference. Then, its physical reference is the inertial navigation coordinate system, which is also the geographic coordinate system. It does not require true attitude measurement calibration and other links, and has the characteristics of rapid interchangeability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0024] Figure 1 A schematic diagram of a flow chart of an embodiment of an inertial navigation geographic coordinate system consistency calibration method of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0026] The purpose of the present invention is to propose a calibration method, which directly establishes the inertial navigation coordinate system on a physical reference, so that a consistent geographic coordinate system is established during the calibration of batch inertial navigation, and subsequent steps such as true heading error calibration can be avoided, and the method has the characteristics of rapid interchangeability.

[0027] like Figure 1 As shown, an inertial navigation geographic coordinate system consistency calibration method provided by an embodiment of the present invention includes a three-axis turntable, establishing a physical reference of the three-axis turntable, and performing inertial navigation calibration.

[0028] The three-axis turntable is composed of three mutually orthogonal axis systems, a carrier mounting plate, and a control cabinet;

[0029] The carrier mounting plate is integrated with the inner ring frame of the three-axis turntable and serves as a connecting plate for fixing the load (inertial navigation);

[0030] The control cabinet is used to control the axis system of the three-axis turntable to drive the carrier mounting plate and the inertial navigation system to rotate according to a certain strategy;

[0031] The establishment of the physical reference of the three-axis turntable is to design a physical reference on the carrier mounting plate, and the physical reference is parallel to the axis system of the three-axis turntable;

[0032] The inertial navigation calibration comprises the following steps:

[0033] Step 1: Fix the inertial navigation system on the carrier mounting plate. During installation, ensure that the physical reference of the inertial navigation system is aligned with the physical reference of the three-axis turntable carrier mounting plate.

[0034] Step 2: Control the three-axis turntable to rotate according to a certain strategy;

[0035] Step 3: Compare the rotation information of the three-axis turntable with the sensitive inertial motion information of the three gyroscopes and three accelerometers of the inertial navigation system, take the axis system of the three-axis turntable as the navigation coordinate system, and solve the installation error matrix between the inertial sensor and the navigation coordinate system;

[0036] Step 4: Write the installation error matrix of the inertial sensor into the inertial navigation Flash to complete the calibration.

[0037] Preferably, the step one comprises three parts: establishing a physical reference by means of a turntable carrier mounting plate; establishing a reference transfer carrier and installing the inertial navigation system onto the turntable via the reference transfer carrier.

[0038] Preferably, the physical reference for establishing the physical reference of the turntable carrier mounting plate is the mounting bottom surface and the mounting backing surface, and the physical reference is adjusted so that the mounting bottom surface is perpendicular to the turntable outer ring axis, the mounting backing surface is perpendicular to the mounting bottom surface, and parallel to the middle ring axis.

[0039] Preferably, the spatial coordinate system constructed by the mounting bottom surface and the mounting back surface is parallel to the axis system of the three-axis turntable. After establishment, the physical reference on the carrier mounting plate is kept fixed to the turntable without relative displacement.

[0040] Preferably, the reference transfer carrier is established, and different inertial guides are transferred to the physical reference of the carrier mounting plate by equipping different reference transfer carriers. The reference transfer carrier is provided with two groups (group A and group B) of mounting bottom surfaces and mounting back surfaces, group A cooperates with the turntable carrier mounting plate to achieve repeated positioning, and group B cooperates with the inertial guide to achieve repeated positioning.

[0041] Preferably, the inertial navigation system is installed on the turntable through a reference transfer carrier, and the inertial navigation system is matched with the mounting bottom surface and mounting back surface of the reference transfer carrier group B to achieve repeated positioning, and then matched with the physical reference of the state carrier mounting plate through the mounting bottom surface and mounting back surface of group A to achieve repeated positioning.

[0042] Preferably, the physical reference of the inertial navigation system constructed with the installation bottom surface and the installation backing surface is consistent with the turntable coordinate system.

[0043] Specifically, in this embodiment, Figure 1 The present invention is further described as follows in conjunction with the accompanying drawings:

[0044] 1. First, establish a physical reference on the carrier mounting plate of the three-axis turntable. The physical reference in this case is the mounting bottom surface and the mounting back surface. Adjust the physical reference so that the mounting bottom surface is perpendicular to the outer ring axis of the turntable, the mounting back surface is perpendicular to the mounting bottom surface, and parallel to the middle ring axis. In this way, the spatial coordinate system constructed by the mounting bottom surface and the mounting back surface is parallel to the axis system of the three-axis turntable. After establishment, keep the physical reference on the carrier mounting plate fixed to the turntable without relative displacement.

[0045] 2. Establish a reference transfer carrier. This implementation example adds a reference transfer carrier for the purpose of transferring inertial navigation devices with different mounting interfaces. Different inertial navigation devices are transferred to the physical reference of the carrier mounting plate by equipping different reference transfer carriers. The reference transfer carrier is provided with two groups (Group A and Group B) of mounting bottom surfaces and mounting back surfaces. Group A cooperates with the turntable carrier mounting plate to achieve repeated positioning, and Group B cooperates with the inertial navigation device to achieve repeated positioning.

[0046] 3. The inertial navigation system is matched with the mounting bottom surface and mounting back surface of the reference transfer carrier group B to achieve repeated positioning, and then matched with the physical reference of the state carrier mounting plate through the mounting bottom surface and mounting back surface of group A to achieve repeated positioning. After this step, the physical reference constructed by the inertial navigation system with the mounting bottom surface and mounting back surface is consistent with the turntable coordinate system.

[0047] 4. Control the three-axis turntable to rotate according to a certain strategy.

[0048] 5. Compare the rotation information of the three-axis turntable with the sensitive inertial motion information of the three gyroscopes and three accelerometers of the inertial navigation system, take the axis system of the three-axis turntable as the navigation coordinate system, and solve the installation error matrix between the inertial sensor and the navigation coordinate system.

[0049] 6. Write the installation error matrix of the inertial sensor into the inertial navigation Flash to complete the calibration.

[0050] For subsequent mass production, simply execute steps 3-6 to complete the calibration.

[0051] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A method for calibrating consistency of an inertial navigation geographic coordinate system, characterized in that: It includes a three-axis turntable, establishes the physical reference of the three-axis turntable, and performs inertial navigation calibration. The three-axis turntable is composed of three mutually orthogonal axis systems, a carrier mounting plate, and a control cabinet; The carrier mounting plate is integrated with the inner ring frame of the three-axis turntable and serves as a connecting plate for fixing the load (inertial navigation); The control cabinet is used to control the axis system of the three-axis turntable to drive the carrier mounting plate and the inertial navigation system to rotate according to a certain strategy; The establishment of the physical reference of the three-axis turntable is to design a physical reference on the carrier mounting plate, and the physical reference is parallel to the axis system of the three-axis turntable; The inertial navigation calibration comprises the following steps: Step 1: Fix the inertial navigation system on the carrier mounting plate. During installation, ensure that the physical reference of the inertial navigation system is aligned with the physical reference of the three-axis turntable carrier mounting plate. Step 2: Control the three-axis turntable to rotate according to a certain strategy; Step 3: Compare the rotation information of the three-axis turntable with the sensitive inertial motion information of the three gyroscopes and three accelerometers of the inertial navigation system, take the axis system of the three-axis turntable as the navigation coordinate system, and solve the installation error matrix between the inertial sensor and the navigation coordinate system; Step 4: Write the installation error matrix of the inertial sensor into the inertial navigation Flash to complete the calibration.

2. The method for calibrating consistency of an inertial navigation geographic coordinate system according to claim 1, characterized in that: The step one includes three parts: establishing a physical reference on a turntable carrier mounting plate; establishing a reference transfer carrier and installing the inertial navigation system on the turntable via the reference transfer carrier.

3. The method for calibrating consistency of an inertial navigation geographic coordinate system according to claim 2, characterized in that: The physical reference for establishing the physical reference of the turntable carrier mounting plate is the mounting bottom surface and the mounting backing surface. The physical reference is adjusted so that the mounting bottom surface is perpendicular to the turntable outer ring axis, the mounting backing surface is perpendicular to the mounting bottom surface, and parallel to the middle ring axis.

4. The method for calibrating consistency of an inertial navigation geographic coordinate system according to claim 3, characterized in that: The spatial coordinate system constructed by the mounting bottom surface and the mounting back surface is parallel to the axis system of the three-axis turntable. After establishment, the physical reference on the carrier mounting plate and the turntable are kept fixed without relative displacement.

5. The method for calibrating consistency of an inertial navigation geographic coordinate system according to claim 1, characterized in that: The reference transfer carrier is established, and different inertial navigations are transferred to the physical reference of the carrier installation plate by equipping different reference transfer carriers.

6. According to the inertial navigation geographic coordinate system consistency calibration method described in claim 5, the reference transmission carrier is provided with two groups of interfaces, Group A and Group B, Group A and Group B are respectively arranged on the mounting bottom surface and the mounting back surface, Group A cooperates with the turntable carrier mounting plate to achieve repeated positioning, and Group B cooperates with the inertial navigation to achieve repeated positioning.

7. The method for calibrating consistency of an inertial navigation geographic coordinate system according to claim 3, characterized in that: The inertial navigation system is installed on the turntable through a reference transfer carrier, and the inertial navigation system is repeatedly positioned by coordinating the mounting bottom surface and mounting back surface with the mounting bottom surface and mounting back surface of the reference transfer carrier group B, and then they are matched together through the mounting bottom surface and mounting back surface of the group A with the physical reference of the state carrier mounting plate to achieve repeated positioning.

8. The method for calibrating consistency of an inertial navigation geographic coordinate system according to claim 7, characterized in that: The physical reference of the inertial navigation system constructed with the installation bottom surface and the installation backing surface is consistent with the turntable coordinate system.

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