Method for online real time clearing strapdown inertial navigation system gyroscope constant value drift

Abstract

The present invention is method of online eliminating real-time constant drift of gyroscope in strapdown inertial navigation system (SINS), which includes four single shaft gyroscope, one monitoring one and three navigation ones. During SINS operation, the monitoring gyroscope can online measure the constant drifts of the three navigation gyroscopes after each starting and their slow changes autonomously and complete real-time comprehensive compensation without depending on outer information. The said measurement and compensation is performed throughout the SINS operation to overcome the influence of change in gyroscope performance on the precision of SINS. The present invention has the features of autonomy, flexibility and high precision, and may be used in raising the precision of different strapdown inertial navigation systems.

Description

technical field [0001] The invention relates to an online real-time method for eliminating the gyro constant drift of a strapdown inertial navigation system (SINS), which can be used to improve the precision of strapdown inertial navigation systems such as flexible gyro SINS, fiber optic gyro SINS, and MEMS gyro SINS. Background technique [0002] The basic principle of the strapdown inertial navigation system (SINS) is based on Newton's relative inertial space mechanics law, using gyroscopes and accelerometers to measure the linear motion and angular motion parameters of the carrier relative to the inertial space, and continuously and real-time provide position and velocity and attitude information. SINS completely relies on its own inertial sensitive components and does not rely on any external information to measure navigation parameters. Therefore, it has the advantages of good concealment, no limitation of weather conditions, no signal loss, and no interference. It is a...

AI Technical Summary

Problems solved by technology

Improve the inertial components, that is, improve the manufacturing accuracy of the gyroscope, which is often limited by many factors such as process and cost, and it costs a lot of money and a long cycle, so it is difficult to achieve; calibration compensation is used in SINS Before the navigation work, establish the error data model of the gyroscope, solve the constant value drift of the gyroscope, and then perform compensation

This method reduces the gyro constant value drift to a certain extent, but always uses a constant value for gyro drift compensation during the whole process of gyro work, and cannot overcome the successive start-up errors of the gyro constant value drift and its work. Slowly changing; the filtering method can be used to estimate and compensate the gyro constant value drift online. However, due to the poor observability of the gyro constant value drift during online estimation, the estimation accuracy is not high, and the effect after compensation is not ideal

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