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Calibration-free method for disassembly and assembly of inertial components of strapdown inertial navigation system

A technology of strapdown inertial navigation and inertial components, which is applied in the field of disassembly and assembly of inertial components of strapdown inertial navigation systems without calibration, can solve problems such as installation errors and the influence of inertial navigation system accuracy, so as to reduce maintenance costs, speed up maintenance efficiency, and improve The effect of repairability

Active Publication Date: 2022-07-26
TIANJIN NAVIGATION INSTR RES INST
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Problems solved by technology

[0002] According to the working principle of the inertial navigation system, the combination of the gyroscope and the accelerometer should be installed at the center of mass of the carrier, and the 3 axes of the 3-axis gyroscope and the 3 measuring axes of the accelerometer should be completely consistent with the 3 axes of the carrier coordinate system. However, there will always be installation errors in the actual installation process, which will definitely affect the accuracy of the inertial navigation system

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  • Calibration-free method for disassembly and assembly of inertial components of strapdown inertial navigation system
  • Calibration-free method for disassembly and assembly of inertial components of strapdown inertial navigation system
  • Calibration-free method for disassembly and assembly of inertial components of strapdown inertial navigation system

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Embodiment Construction

[0102] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments are descriptive, not restrictive, and cannot limit the protection scope of the present invention.

[0103] A calibration-free method for disassembling and assembling an inertial component of a strapdown inertial navigation system, characterized in that it comprises the following steps:

[0104] ⑴, gyroscope 3 degrees of freedom installation reference design;

[0105] Establish the gyroscope body coordinate system on the gyroscope, such as figure 1 shown,

[0106] in,

[0107] G stands for gyroscope;

[0108] gb represents the gyroscope body coordinate system;

[0109] p represents the IMU coordinate system;

[0110] i gb , j gb , k gb respectively represent three mutually orthogonal axes on the gyroscope body coordinate system;

[0111] x p , y p ,z p Respectively represent three mutually orthogonal a...

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Abstract

The invention relates to a calibration-free method for disassembling and assembling inertial elements of a strapdown inertial navigation system, including a gyroscope 3-DOF installation reference, an accelerometer 3-DOF installation reference, an IMU installation reference, inertial element installation, inertial navigation system calibration and installation Error equation of component inertial measurement error caused by error, inverse of the installation error requirement of navigation system accuracy. The invention has novel and innovative design ideas, ensures the repeatability of the installation error of the inertial element, and controls the repeated installation error within a negligible range, thereby realizing the function of disassembling and assembling the inertial element without calibration, and improving the maintainability of the system. No need to return to the factory for calibration.

Description

technical field [0001] The invention relates to the technical field of inertial navigation systems, in particular to a calibration-free method for disassembling and assembling inertial elements of a strapdown inertial navigation system. Background technique [0002] According to the working principle of the inertial navigation system, the combination of the gyroscope and the accelerometer should be installed at the center of mass of the carrier, and the 3-axis 3-axis gyroscope and the 3-axis of the accelerometer should be exactly the same as the 3-axis of the carrier coordinate system. However, there will always be installation errors in the actual installation process, which will definitely affect the accuracy of the inertial navigation system. The calibration of the inertial navigation system is mainly to calibrate the angular displacement error of the gyroscope in the inertial navigation system, that is, the installation error of the gyroscope, the angular displacement er...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 侯志宁陈鑫阳张海龙刘为任
Owner TIANJIN NAVIGATION INSTR RES INST
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