Attitude error compensation method of laser gyroscope dual-axis rotary inertial navigation system

Abstract

The invention discloses an attitude error compensation method of a laser gyroscope dual-axis rotary inertial navigation system. The attitude error compensation method is implemented by sequentially executing the following steps: constructing a six-degree-of-freedom kinetic model of the laser gyroscope dual-axis rotary inertial navigation system, obtaining a kinetic equation when an inner frame axis and an outer frame axis rotate, solving a deviation angle caused by the deformation of a rubber shock absorber when the inner / outer frame axis rotates by adopting a fourth-order Runge-Kutta method,and fitting the corresponding relationship between the angular rate of the frame axes obtained by dynamic analysis and the deviation angle caused by the deformation of the rubber shock absorber to obtain attitude error compensation information; and compensating the attitude output according to the attitude error compensation information. According to the attitude error compensation method, the attitude accuracy of the laser gyroscope dual-axis rotary inertial navigation system can be effectively improved; compared with the original uncompensated attitude output, the output accuracy of a pitching angle and a heading angle of the error-compensated attitude can be improved by about 8 times, and thus the effectiveness of the method can be fully proved.

Description

technical field [0001] The invention relates to the technical field of attitude error compensation of a rotary inertial navigation system, in particular to a method for attitude error compensation of a laser gyro dual-axis rotary inertial navigation system. Background technique [0002] The inertial measurement unit is the core component of the inertial navigation system. It provides the inertial device information of the carrier (the three-dimensional acceleration and three-dimensional angular velocity information relative to the inertial system) to the inertial navigation system through the three-axis gyro assembly and the three-axis accelerometer assembly installed orthogonally. . The navigation computer board of the inertial navigation system performs navigation calculation on the inertial device information to obtain the real-time navigation information of the carrier including position, velocity and attitude information. Since the navigation solution method of the ine...

AI Technical Summary

Problems solved by technology

The deviation angle seriously reduces the attitude accuracy of the dual-axis rotary inertial navigation system. In order to overcome the influence of the deviation angle, the published patent CN104121926A proposes a calibration method for the installation error angle between the rotating shaft and the sensitive shaft of the dual-axis rotary inertial navigation system. The published patent CN109211269A proposes a method for calibrating the attitude error angle of the dual-axis rotary inertial navigation system. However, although these methods well solve the problems caused by the deviation angle caused by the fixed installation error between the dual-axis rotary mechanism and the inertial measurement unit However, it cannot solve the influence of the deviation angle caused by the deformation of the rubber shock absorber in the laser gyro dual-axis rotary inertial navigation system on the attitude accuracy.

Images