Inertial platform system accelerometer installation error accurate calibration method

Abstract

The invention relates to an inertial platform system accelerometer installation error accurate calibration method. The method can be used for accurately calibrating the accelerometer installation error of an inertial platform system under the condition of no accurate horizontal reference and vertical reference. The method mainly comprises the steps that 1, every two accelerometers in the three accelerometer are installed on an inertial platform body in an orthogonal mode, and an accelerometer calibration position arranging scheme is designed; 2, the accelerometer calibration position arrangingscheme is utilized to complete data acquisition, an accelerometer zero position, an accelerometer scale factor and an accelerometer installation error are calculated through an accelerometer error model; 3, the accelerometer output is compensated by utilizing the calculated accelerometer installation error; and 4, the accelerometer installation error compensation effect is verified.

Description

Technical field [0001] The invention relates to a method for accurately calibrating the installation error of an inertial platform system accelerometer. Background technique [0002] Inertial navigation technology mainly determines the motion parameters of the carrier through sensitive carrier acceleration and attitude information, and realizes the functions of navigation, guidance, positioning and orientation and control of the carrier. Compared with other navigation technologies, the inertial navigation system with inertial technology as the core is the only system that can provide all the navigation information needed in real time, continuously and autonomously, and has the ability to be all-weather, undisturbed, concealed and free from time, region, and environment. Restrictions and other characteristics are the core information source and reference information source of the carrier's motion parameters, and the core supporting technology of national defense science and techno...

AI Technical Summary

Problems solved by technology

This type of method has many parameters for one-time calibration, and different system models can be constructed according to the needs. The inconsistency of the models will cause the observability of the accelerometer installation error to be different. Inappropriate model selection may even cause the accelerometer installation error to be unobservable, resulting in inability to Identify the installation error of the accelerometer;

[0009] (3) The multi-position self-calibration scheme of the platform. This method marks the error parameters of the gyroscope and accelerometer at the same time, and uses the platform frame to perform multi-position flip. After each position is in place, release the frame to make the platform body stable relative to the inertial space. At this time, the output of the accelerometer changes relative to the geographic system. If the analytical relationship between the output of the accelerometer and the acceleration of gravity is used for parameter identification, it will affect the calibration accuracy of the accelerometer. If the method of parameter identification at the system level is used, the calculation process is more complicated.

[0010] (4) Process guarantee. In previous platform applications, the accelerometer installation error was guaranteed by the installation process. The default accelerometer installation error was a small amount, and the accelerometer installation error was not considered when the platform self-calibration and self-alignment

This method complicates the accelerometer installation process

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