Calibration method for ship-referenced inertial navigation system

Abstract

The invention belongs to the technical field of inertial navigation and relates to a calibration method for a ship-referenced inertial navigation system. The calibration method comprises the following steps: firstly, mounting a referenced inertial navigation device in a referenced inertial navigation cabin; mounting an auxiliary inertial navigation device on a deck with bow-and-stern line graduation marks; erecting a theodolite, and controlling the position of the theodolite to enable the theodolite to calibrate an azimuth reference mirror and bow-and-stern scribed lines on the auxiliary inertial navigation device; then connecting the auxiliary inertial navigation device, the referenced inertial navigation device and a data recording device; calibrating between the auxiliary inertial navigation and the bow-and-stern lines, as well as between the auxiliary inertial navigation device and a reference plane for data acquisition and installation error identification, finally, performing calibration compensation, and calculating to obtain calibrated navigation attitude values. By the adoption of the technical scheme, the referenced inertial navigation system can be successfully output onto a ship reference frame without special docking for a ship or north-seeking gyro theodolite equipment with relatively high price, and only the simple theodolite is required, so that the calibration cost can be lowered.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and relates to a calibrating method for a reference inertial navigation system of a ship. Background technique [0002] The ship's reference inertial navigation system (hereinafter referred to as "reference inertial navigation") is an important device of the ship's navigation system. It can not only provide navigation information for ship navigation, but also provide navigation information for multiple subsystems of the ship. Radar control system, missile weapon system, artillery control system, etc. With the development of inertial technology, the ship's reference inertial navigation system has a tendency to develop from a platform-type inertial navigation system to an optical gyro inertial navigation system. The volume and weight of the system are reduced, the reliability is improved, and the cost price is reduced. At present, domestic ship reference optical gyro inertial navigatio...

AI Technical Summary

Problems solved by technology

With the effective use of ship space, the ship cannot reserve enough space for the reference inertial navigation in the cabin to place calibration equipment such as gyro theodolite and electronic level, especially in the cabin where the local reference inertial navigation configured for the subsystem is located space is limited

In addition, for the installation of reference inertial navigation on ships in active service, not only the space limitation of the additional reference inertial navigation calibration is faced, but also the ship may not be able to provide the static state of the docking pier required for traditional calibration.

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