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Method for calibrating inertial measurement unit applicable to low-precision single-shaft transposition device with azimuth reference

A technology of inertial measurement unit and calibration method, which is applied in measurement devices, instruments, etc., can solve the problem of undiscovered single-axis system-level calibration algorithm, etc.

Active Publication Date: 2014-10-29
THE GENERAL DESIGNING INST OF HUBEI SPACE TECH ACAD
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There is no relevant information on single-axis system-level calibration algorithms found

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  • Method for calibrating inertial measurement unit applicable to low-precision single-shaft transposition device with azimuth reference
  • Method for calibrating inertial measurement unit applicable to low-precision single-shaft transposition device with azimuth reference
  • Method for calibrating inertial measurement unit applicable to low-precision single-shaft transposition device with azimuth reference

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[0110] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0111] The present invention provides an inertial measurement unit calibration method suitable for low-precision azimuth reference single-axis indexing equipment. The specific calibration steps are as follows:

[0112] Step 1: Install the inertial measurement unit on the single-axis indexing device, the initial position of the inertial measurement unit is oriented down-east-south, the navigation coordinate system is selected as the North-Up-East (N-U-E, North-Up-East) coordinate system, and the inertial measurement After the unit is powered on for 30 minutes to warm up, it starts to collect the output raw data. The arrangement of the calibration positions is shown in Table 1: the inertial measurement unit first stops at the 0th position for 3-5 minutes, and then rotates to the first position for 3- 5 minutes, then turn to the second position, ...

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Abstract

The invention discloses a method for calibrating an inertial measurement unit applicable to a low-precision single-shaft transposition device with azimuth reference, belonging to the technical field of inertia. The method is characterized by comprising the following steps: rotating the low-precision single-shaft transposition device to arrange five positions, fitting out a first-order intermediate parameter delta g and a second-order intermediate parameter shown in the specification by utilizing a speed error and an upward attitude error, calculating error parameters of each device through a least square method according to the relation between the intermediate parameter and the error parameter as well as the latest historical calibration parameters, substituting the iterated error parameter of the previous time and the original output data of the inertial measurement unit into a navigation equation in order to effectively eliminate the positioning error caused by a turntable, then re-calculating the observed quantity, the intermediate parameter and the error parameter residual error, then compensating the residual error of the error parameter, and deducing the rest by analog until the error parameter residual error obtained through the iteration calculation is smaller than a threshold value. By adopting the method, the calibration cost and the dependence of the calibration on the precision of the turntable can be greatly reduced, the calibration time is shortened, and the engineering practicability can be achieved.

Description

technical field [0001] The invention belongs to the technical field of inertial measurement combination test in aerospace strapdown inertial navigation technology, and specifically relates to an inertial measurement unit calibration method suitable for low-precision azimuth reference single-axis indexing equipment, which can be used for part parameters of inertial measurement combination calibration. Background technique [0002] The strapdown inertial navigation system has the advantages of short response time, high reliability, small size, and light weight. It is widely used in military and civilian navigation fields such as aircraft, ships, and missiles. It has important national defense significance and huge economic benefits. [0003] The inertial measurement combination is the core component of the strapdown inertial navigation system, mainly composed of 3 accelerometers and 3 gyroscopes. [0004] Calibration technology is one of the core technologies in the field of ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 穆杰刘明杨道安罗伟李丽
Owner THE GENERAL DESIGNING INST OF HUBEI SPACE TECH ACAD
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