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Calibration method of laser strapdown inertial navigation system on horizontal three-axis rotary table

A three-axis turntable, strapdown inertial navigation technology, applied in the field of inertial instrument testing, to achieve the effect of improving the accuracy of use

Active Publication Date: 2019-07-12
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to suppress the impact of test equipment errors on the calibration accuracy of the IMU, solve the coupling problem of the installation error angle in the IMU system level calibration, and identify the scale factor, zero offset and installation error of the inertial instrument accelerometer and gyroscope in the IMU There are 21 error parameters in total, and then a calibration method of the laser strapdown inertial navigation system on the horizontal three-axis turntable is provided.

Method used

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  • Calibration method of laser strapdown inertial navigation system on horizontal three-axis rotary table
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  • Calibration method of laser strapdown inertial navigation system on horizontal three-axis rotary table

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Embodiment 1

[0029] Embodiment one: if Figure 1-3 As shown, the calibration method of a laser strapdown inertial navigation system involved in this embodiment on a horizontal three-axis turntable,

[0030] The laser strapdown inertial navigation system described in the present invention is composed of 3 accelerometers and 3 gyroscopes. Install the laser strapdown inertial navigation system on the horizontal three-axis turntable; use the double-axis position and single-axis rate tumbling method of the horizontal three-axis turntable to realize the regular tetrahedron calibration scheme of the IMU: adjust the middle and inner sides of the horizontal three-axis turntable The ring axis is at four angular positions, so that the angular velocity vectors of the rotation of the outer ring axis point to the four vertices of the regular tetrahedron in the carrier system, and the outer ring axis performs four rotations at equal intervals of 90° at each vertex; through the horizontal The regular tet...

Embodiment 2

[0078] Embodiment two: if Figure 4 with Figure 5 As shown, the calibration method of a laser strapdown inertial navigation system involved in this embodiment on a horizontal three-axis turntable verifies the effect of the present invention as follows:

[0079] The simulation conditions are set as follows: gravitational acceleration g=9.8m / s 2 , the earth's rotation angular velocity ω ie =15.04107° / h, local latitude L=45°; the angular position error of the horizontal three-axis turntable is 1″, the angular velocity of the outer ring axis of the horizontal three-axis turntable is 1° / s, the measurement noise of the accelerometer is 10μg, and the gyro The measurement noise of the instrument is 0.01° / h.

[0080] Table 2 Simulation results of the regular tetrahedron calibration scheme for the laser strapdown inertial navigation system

[0081]

[0082]

[0083] In order to observe the influence of the calibration results obtained on the navigation accuracy of the laser s...

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Abstract

The invention provides a calibration method of a laser strapdown inertial navigation system on a horizontal three-axis rotary table, and belongs to the field of inertial instrument testing. The methodcomprises the following steps: firstly, placing a laser strapdown inertial navigation system on a horizontal three-axis turntable for initial alignment; secondly, entering a navigation state after alignment, and performing a biaxial position uniaxial speed rolling method by using a horizontal three-axis turntable; and finally, standing for 10 seconds and recording a navigation output speed errorafter the completion of each rotation; then, carrying out quadratic polynomial fitting on the speed error recorded each time with respect to navigation time to obtain an observed quantity, and identifying 21 error parameters of scale factors, zero offset and installation error angles of an accelerometer and a gyroscope in an IMU by using a least square method. Compared with a common calibration method of the IMU, the method not only solves the decoupling problem of the installation error angle in IMU system-level calibration, but also effectively inhibits the influence of the error of the inertial navigation test equipment on the calibration precision of the IMU, and can calibrate the IMU error parameter with higher precision without providing accurate attitude information by a rotary table.

Description

technical field [0001] The invention relates to a calibration method of a laser strapdown inertial navigation system on a horizontal three-axis turntable, belonging to the technical field of inertial instrument testing. Background technique [0002] The method of improving the structural design and manufacturing process to improve the precision of the inertial navigation system has encountered the limitation of the manufacturing precision limit in practice. By testing on the inertial navigation testing equipment, calibrating the error model of the inertial navigation system, compensating or suppressing the error of the inertial testing equipment, it can reduce the calibration cost while improving the calibration accuracy of the inertial navigation system, which has very important engineering application value. [0003] The output error of the inertial measurement unit (IMU) is the main source of the error of the inertial navigation system, so it must be modeled and calibrate...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 王常虹董春梅任顺清孙闯
Owner HARBIN INST OF TECH
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