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Microinertia measuring unit precisive calibration for installation fault angle and rating factor decoupling

A technology of installation error angle and micro-inertial measurement, applied in directions such as navigation through velocity/acceleration measurement, which can solve the problems of inability to accurately calculate the installation error angle, providing guidance information for the installation error angle, asymmetric gyroscope scale factors, etc. Achieve the effect of reducing the test requirements and difficulty, improving the calibration efficiency, and reducing the workload

Inactive Publication Date: 2006-08-16
BEIHANG UNIV
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Problems solved by technology

The gyroscope and accelerometer installation error items in the above-mentioned angular velocity and acceleration channel error models are actually the coupling coefficients of the scaling factor and the installation error angle, so the existing dynamic and static hybrid calibration methods cannot accurately calculate the installation error angle, and thus cannot be used for further correction. The installation error angle provides guidance information. At the same time, this method does not calculate the gyroscope scale factor under negative rotation speed, which leads to the asymmetry error of the gyroscope scale factor. In addition, the calibration test equipment used in this method requires north-seeking, thus increasing The difficulty and workload of the test

Method used

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  • Microinertia measuring unit precisive calibration for installation fault angle and rating factor decoupling
  • Microinertia measuring unit precisive calibration for installation fault angle and rating factor decoupling
  • Microinertia measuring unit precisive calibration for installation fault angle and rating factor decoupling

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Embodiment Construction

[0034] The specific implementation steps of the technical solution of the present invention are as follows: figure 1 As shown, first define the coordinate systems used in the specific implementation process, figure 2 is the coordinate system OXYZ of the dual-axis position station and the relationship between this coordinate system and the geographic coordinate system Northeast Sky; image 3 is the speed turntable coordinate system O T x T Y T Z T And the relationship between this coordinate system and the geographic coordinate system northeast sky; Figure 4 is the MIMU coordinate system oxyz, the specific implementation steps are as follows:

[0035] 1. Based on the characteristics of MIMU installation error angle, poor resolution, large drift, non-linear scale factor and large asymmetry error, a complete error model of MIMU is established, and the installation error angle is used to replace the installation error in the existing error model coefficient, which separate...

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Abstract

An accurate calibration method of micro inertia measuring unit by decoupling erection error angle (EEA)with scale factor includes setting up MIMU integral error model and separating couple between EEA of accelerometer and gyroscope and scale factor ,using position error canceling method to calculate out and to separate out scale factor and EEA of accelerometer as well as using least square method and iteration method to calculate out EEA of gyroscope and its relative error items in 10 position static calibration test and in 3 direction positive and negative rate test ,then using interpolation method to calculate out scale factor of gyroscope .

Description

technical field [0001] The invention relates to a MIMU accurate calibration method decoupling the installation error angle and the scale factor, which is used for calculating various error coefficients in the MIMU overall error model, and is especially suitable for MIMU calibration with a large installation error angle, and the method is also applicable It is used in flexible gyroscope inertial measurement unit (IMU) and liquid floating gyroscope IMU. Background technique [0002] The MIMU composed of three orthogonally arranged micro-electromechanical gyroscopes and accelerometers is the core component of the micro-inertial navigation system. Its accuracy determines the navigation accuracy of the micro-inertial navigation system. The deterministic system error in the MIMU error source accounts for about About 90% of the total error, so the separation, calibration and compensation of deterministic system errors are decisive for improving the accuracy of MIMU. [0003] At pr...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/18
Inventor 房建成李建利盛蔚刘百奇张霄孙宏伟
Owner BEIHANG UNIV
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