Digital compensation method for adjusting installation error of strapdown equipment

Abstract

The invention provides a digital compensation method for adjusting an installation error of strapdown equipment. The strapdown equipment is connected with a computer system provided with a strapdown vertical reference benchmark setup system; the installation errors of a course angle, a pitching angle and a rolling angle of the strapdown equipment are measured by angle measurement equipment; the measured installation error angles are input into the computer system provided with the strapdown vertical reference benchmark setup system; the installation error angles are inserted into a formula to obtain a transformation matrix from a strapdown coordinate system to an installation coordinate system by the strapdown vertical reference benchmark setup system; the measurement information of a spinning top and an accelerometer is updated by the error matrix to finish the compensation of the installation error; and correct gesture information can be solved by the traditional strapdown gesture updating method of compensated instrument information strapdown. By adopting the digital compensation method, the material and time can be greatly saved; and the installation error accuracy is improved.

Description

technical field [0001] The invention belongs to a method for adjusting installation error of strapdown equipment, in particular to a digital compensation method for adjusting installation error of strapdown equipment. Background technique [0002] Due to the installation error caused by the misalignment of the coordinate system of the strapdown equipment and the coordinate system of the installation carrier, the attitude information measured by the strapdown equipment is not true. Therefore, it is necessary to adjust the installation error. The installation accuracy of strapdown inertial navigation equipment is relatively high. Generally, the installation error of heading attitude is less than 3 arc minutes. In the prior art, the installation error of the strapdown equipment is mainly realized by means of mechanical correction or manual grinding, such as image 3 and Figure 4 ;Using mechanical correction or manual grinding is a waste of materials (adding mechanical adjustm...

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Problems solved by technology

In the prior art, for the installation error of strapdown equipment, it is mainly realized by mechanical correction or manual grinding, such as image 3 and Figure 4 ;Using mechanical correction or manual grinding is a waste of materials (addition of mechanical adjustment devices) and a waste of time, and the position of the strapdown equipment cannot be the same as the original position every time it is disassembled, which will lead to new errors, so it needs to be re-grinded Or adjust, bring a lot of inconvenience to the repair and maintenance of the equipment later

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