Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Calibration method for attitude angle error of biaxial rotary inertial navigation system

An inertial navigation system and error calibration technology, applied in the field of inertial navigation, can solve problems such as increased attitude errors

Active Publication Date: 2019-01-15
昆山天地睿航智能科技有限公司
View PDF10 Cites 11 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the introduction of the rotating mechanism, many errors become the source of the cone error, which in turn leads to an increase in the attitude error

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Calibration method for attitude angle error of biaxial rotary inertial navigation system
  • Calibration method for attitude angle error of biaxial rotary inertial navigation system
  • Calibration method for attitude angle error of biaxial rotary inertial navigation system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0064] The technical solutions protected by the present invention will be specifically described below in conjunction with the accompanying drawings.

[0065] The attitude angle error calibration method proposed by the present invention is suitable for general platform inertial navigation systems, and most general platform inertial navigation systems adopt a two-frame three-axis structure, including gyroscopes, accelerometers, outer frames, inner frames and platform platforms body, wherein the gyroscope and accelerometer are installed on the platform body, and the outer frame, the inner frame and the platform body can rotate around the outer ring axis, the inner ring axis and the platform body axis respectively.

[0066] A method for calibrating an attitude angle error of a dual-axis rotary inertial navigation system, comprising the following steps:

[0067] Step 1: Construct the coordinate system, figure 1 Provide the schematic diagram of each coordinate system that the pres...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention proposes a calibration method for an attitude angle error of a biaxial rotary inertial navigation system. By constructing a plurality of coordinate systems, an installation deviation angle, that is, a roll misalignment angle existing between the shaft system of the IMU mounted on the inner frame and an inner ring shaft and an outer ring shaft is calibrated, which reduces the influence of a cone error angle on the system attitude; meanwhile, the Kalman filter method is used to calibrate the non-orthogonal angle between the rotating axes and the swing angle of the shaft itself, andthe 16-position rotation method is used to obtain the observation information and navigation data in the process of Kalman filtering, which further improves the attitude accuracy of the system and the navigation accuracy of the system during long-term navigation.

Description

technical field [0001] The invention relates to the field of inertial navigation, in particular to a method for calibrating the attitude angle error of a dual-axis rotary inertial navigation system. Background technique [0002] Dual-axis rotary inertial navigation is a navigation technology that has emerged in China in recent years. Due to the maturity and wide application of laser gyroscope technology and the continuous improvement of fiber optic gyroscope performance, optical gyroscopes can use modulation technology. Within the navigation frame, the modulation technique modulates these errors of gyroscopes and accelerometers whose sensitive axis is perpendicular to the axis of rotation: scale factor asymmetry error, installation error, and random constant drift error. After these errors are modulated and averaged, the positioning accuracy of the system can be significantly improved. However, due to the introduction of the rotating mechanism, many errors become the sourc...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 姜睿王晶邹锐王艳永刘帅
Owner 昆山天地睿航智能科技有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com