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Double-shaft continuous rotation-based hybrid type platform inertial navigation system calibration method

A technology of inertial navigation system and calibration method, which is applied in the direction of measuring devices and instruments, and can solve the problems of incomplete calibration parameters and long calibration time of gyroscopes

Active Publication Date: 2018-07-24
BEIJING INST OF AEROSPACE CONTROL DEVICES
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0011] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, and to invent a hybrid platform inertial navigation system calibration method based on two-axis continuous rotation, which can accurately and quickly calibrate the errors of the gyroscope and accelerometer , can solve the problems of incomplete calibration parameters and long calibration time of the gyroscope, improve the calibration efficiency, and improve the system accuracy

Method used

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  • Double-shaft continuous rotation-based hybrid type platform inertial navigation system calibration method

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Embodiment

[0149] In a hybrid platform inertial navigation system calibration, the constant value drift of the gyroscope is 0.02° / h, the random drift is 0.02° / h, the constant zero bias of the accelerometer is 100 μg, and the random bias is 50 μg. The instrument scale factor error is (Unit: ppm), the installation error of each axis is (unit: arc minutes). The geographic latitude is 33.912°, the geographic longitude is 0°, and the initial attitude angle is (0°, 0°, 30°).

[0150] Set the initial filtering conditions, the initial value X(0) of the state vector X is 0, the initial estimated mean square error matrix P(0), the system noise matrix Q, and the measurement noise matrix R are respectively:

[0151] P(0)=diag[(0.1°) 2 (0.1°) 2 (0.1°) 2 (0.1m / s) 2 (0.1m / s) 2 (0.1m / s) 2 (0.01) 2 (0.01) 2 (0.01) 2 (20") 2 (20") 2 (20") 2 (20") 2 (20") 2 (20") 2 (100μg) 2 (100μg) 2 (100μg

[0152] Q=[(0.02° / h) 2 (0.02°) 2 (0.02°) 2 (50μg) 2 (50μg) 2 (50μg)...

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Abstract

The invention discloses a double-shaft continuous rotation-based hybrid type platform inertial navigation system calibration method. The method comprises the following steps: (1) performing coarse alignment to obtain a coarse initial attitude matrix; (2) controlling an outer ring shaft and a platform body shaft of a platform system to rotate at the same angular speed, enabling an inner ring shaftto be under a locked state, and acquiring gyroscope and accelerometer output in the rotating process; (3) resolving an error state equation and an observation equation and calibrating gyroscope scalefactor error, gyroscope mounting error and accelerometer equivalent zero offset; (4) controlling an outer ring frame angle, an inner ring frame angle and a platform body frame angle to lock in a zerostate, rotating the platform body shaft by 180 degrees and locking, and acquiring output data of the gyroscope; (5) controlling the outer ring frame angle, the inner ring frame angle and the platformbody frame angle to lock in the zero state, rotating the outer ring shaft by 180 degrees and locking, and acquiring output data of the gyroscope; and (6) calculating the constant drift of the gyroscope. By the method, the calibration time is effectively shortened and the calibration efficiency is improved.

Description

technical field [0001] The invention relates to a calibration method of a hybrid platform inertial navigation system, in particular to a system-level navigation self-calibration method using two-axis continuous rotation, and belongs to the field of inertial navigation system calibration. Background technique [0002] Chinese Patent Publication No. CN 106767806A, published on May 31, 2017, titled "A Physical Platform for Hybrid Inertial Navigation System", discloses the definition of a hybrid inertial navigation system, which is a platform that absorbs A new type of inertial navigation system based on the respective advantages of the type and the strapdown type. This scheme adopts a two-frame three-axis structure, and uses an optical gyroscope and a quartz accelerometer as inertial sensitive elements on the platform. Chinese Patent Publication No. CN 105973271A, the publication date is September 28, 2016, and the name is "a hybrid inertial navigation system self-calibration m...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 刘凯王蕾赵启坤朱志刚胡镌芮
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES
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