Gesture output compensation method of single-axial rotary inertial navigation system

Abstract

The invention discloses a gesture output compensation method of a single-axial rotary inertial navigation system. The method comprises the following steps: deducting the rotational angular velocity of the earth and gyroscopic drift from angular velocity output by a top z and integrating to obtain an angle; making a difference between the angle of the integral of the top z and a rotating angle output by a coded disc and fitting the difference value to configure compensation quantity of the course angle; deducting gravity acceleration projection from output of x and y accelerometers and angle of pitch and roll angle obtained by initial alignment so as to configure compensation quantity of the angle of pitch and the roll angle; and compensating the gesture output of the single-axial rotary inertial navigation system according to a gesture output compensation algorithm. The gesture output compensation algorithm is easy to implement, and not only can satisfy the real-time requirement of project application, but also can greatly enhance the gesture output precision of the single-axial rotary inertial navigation system, so that the method is of important meaning to improvement of navigation performance of the single-axial rotary inertial navigation system.

Description

technical field [0001] The invention relates to an attitude output compensation method of a single-axis rotary inertial navigation system, belongs to the technical field of attitude compensation of a rotary inertial navigation system, is suitable for compensating the attitude output accuracy of a single-axis rotary inertial navigation system, and is especially suitable for short-term attitude adjustment of the inertial navigation system Applications that require high precision. Background technique [0002] The inertial navigation system measures the angular velocity and acceleration of the carrier relative to space through an orthogonally installed three-axis gyroscope and accelerometer, and gives the real-time position, velocity and attitude information of the carrier based on the principle of dead reckoning. In the inertial navigation system, gyro drift and accumulative zero bias are the key factors affecting the navigation performance. Whether it is a platform inertial n...

AI Technical Summary

Problems solved by technology

A large number of experimental results in the current literature show that the single-axis rotary inertial navigation system can improve the position and velocity accuracy by about an order of magnitude, but the accuracy of the attitude output of the actual system may not improve, or even become worse. There are few studies on this aspect; and the attitude compensation of the rotary inertial navigation system is mainly based on the calibration of the installation deflection angle between the inertial device and the rotating shaft and the inertial device, and the angle sensor (such as a code disc or grating, etc.) There are few studies on the compensation of errors and irregular rotation of the rotating shaft

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