Gyroscope error calibration method

Abstract

The invention belongs to the technical field of inertial navigation, and particularly relates to a gyroscope error calibration method for rapidly calibrating all the error parameter values of a gyroscope by using output values of a system measurement assembly during uniform speed rotation relative to an inertial space. The method comprises that: a strapdown inertial navigation system is arranged on a position change mechanism, the three rotation shafts of the position change mechanism are respectively arranged along the right direction, the front direction and the upper direction of a carrier, aligning is performed after the system is subjected to start-up pre-heating to obtain an initial strapdown attitude matrix, the attitude angle of an IMU coordinate system relative to an inertial coordinate system at the initial time is measured, and the position change mechanism is controlled to drive the IMU to successively rotate according to the measured attitude angles, such that the IMU coordinate system coincides with the inertial coordinate system. According to the present invention, the influence of the high frequency noise in the system can be eliminated, and the IMU rotates relative to the inertial coordinate system so as to make the output signal of the gyroscope be amplified and make the interference resistance strong; and the method has characteristics of simple position change sequence, simple calculation, effective gyroscope calibration speed improvement, and effective gyroscope calibration precision increase.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and in particular relates to a gyroscope error calibration method for quickly calibrating all error parameter values ​​of the gyroscope by utilizing the output value of a system measurement component when it rotates at a constant speed relative to an inertial space. Background technique [0002] With the development of fiber optic gyro strapdown inertial navigation system (Strapdown Inertial Navigation System, SINS) technology, people have higher and higher requirements for the accuracy of device performance indicators. At the same time, in order to reduce the cost of the system, it is necessary to adopt effective system technology. The device error is calibrated and compensated, thereby improving the accuracy of the entire fiber optic gyro strapdown inertial navigation system. [0003] The calibration technology is mainly to determine the basic error model parameters of the inertial ...

AI Technical Summary

Problems solved by technology

Although this method is simple in principle, the angular velocity information sensitive to the gyroscope is weak or even covered by noise due to the small components of the earth's self-propagating angular velocity information on each axis of the geographic coordinate system and the small errors of the gyroscope. The calibration result is inaccurate, and the transposition relationship is complex and the amount of calculation is large

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