CN101105503A - Acceleration meter assembling error scalar rectification method for strapdown type inertia navigation measurement combination - Google Patents
Acceleration meter assembling error scalar rectification method for strapdown type inertia navigation measurement combination Download PDFInfo
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Abstract
The invention relates to a measurement difference correction method and specifically to an accelerated speed meter assembly difference scalar quantity correction method in a strapdown inertial navigation measurement unit; the invention solves the problem that the prior micro inertial measurement unit compensation proposal doesn't take into account assembly position difference and doesn't apply to the accelerated speed meters in all types; the method in the invention takes into account the assembly orientation difference and assembly position difference at the same time, applies to three tops and three accelerated speed meters as well as full accelerated speed meter array and can separately compensate any accelerated speed meter in the micro inertial measurement unit (MIMU). The invention has the advantages of small calculated account and high compensation precision.
Description
Technical Field
The invention relates to a measurement error correction method, in particular to an accelerometer assembly error scalar correction method in a strapdown inertial navigation measurement combination.
Background
The micro-inertia measurement combination has a series of unique advantages of low cost, light weight, small volume, high reliability, strong vibration and impact resistance and the like, so that the micro-inertia measurement combination has wider and wider application prospect, and has wide application prospect not only in the military field but also in the civil field. However, the output of the accelerometer in the microinertia measurement combination is affected by the existence of the assembly error, and further the calculation result of the subsequent algorithm is affected, so that the modeling and the correction are very necessary for the assembly error. The assembly error comprises an installation orientation error and an installation position error. At present, the research conditions at home and abroad aiming at the aspect are as follows: friedrich Roth et al of university of Colorado, USA adopts the compensation method of the azimuth deviation to the little inertia measurement combination that is formed by 3 gyro 3 accelerometer, mainly consider that the little inertia measurement combination that 3 gyro 3 accelerometer forms when the carrier rotational speed is minor, its installation position error is not very big to measure the output value influence, so its correction (compensation) scheme that adopts only compensates the installation azimuth error, do not consider the installation position error; for example, a strapdown inertial measurement unit developed by the institute of engineering, sienna, artillery, and technology, which is composed of three flexible pendulous accelerometers and two dynamically tuned gyroscopes, adopts an output correction model:
however, this correction method is only applicable to pendulum accelerometers and is not suitable for other types of accelerometers.
In summary, currently, there is no compensation scheme for accelerometer mounting position errors in the MIMU, and the existing compensation scheme is not applicable to all types of accelerometers.
Disclosure of Invention
The invention provides an accelerometer assembly error scalar correction method in a strapdown inertial navigation measurement combination, which considers the installation azimuth error and the installation position error and is suitable for all types of accelerometers (suitable for 3-gyroscope 3 accelerometer configuration and full accelerometer array). Because the current correction method for the installation azimuth error is mature, the invention mainly focuses on the correction of the installation position error, namely the correction of the installation azimuth error in the invention only needs to adopt the mature azimuth correction method.
The invention is realized by adopting the following technical scheme: an assembly error scalar correction method for an accelerometer j in a strapdown inertial navigation measurement combination is based on the actual output value A of the accelerometer j in a carrier system rj (i.e. its measured acceleration value in the actual sensitive direction) minus the theoretical output value a j (i.e. acceleration value with the sensitivity direction being the theoretical direction) is equal to the error value A ej I.e. A ej ＝A rj -A j Then A is j ＝A rj -A ej ；
Let u be the theoretical mounting position and orientation of accelerometer j j And theta j The actual position and orientation is u rj And theta rj Then the actual output and the theoretical output of the accelerometer are respectively:
wherein:
g n ＝[0；-9.8；0]；
according to A ej ＝A rj -A j Obtaining:
the derivation process is as follows:
wherein: f. of b : accelerometer array centroid apparent acceleration
u ej : mounting position error, u ej ＝u rj -u j
u rj : actual mounting location
θ ej : azimuthal error, θ ej ＝θ rj -θ j
θ j : theoretical orientation
From the formula (1), the assembly error A ej Depending on the linear and angular movements of the carrier, when the carrier has only linear movement and no angular movement, then the assembly error is related only to the accelerometer mounting orientation error and not to the mounting position error.
Wherein, the actual installation position u of the accelerometer is measured rj The method of (1): mounting the MIMU on the inner frame of the three-axis turntable, and performing 1) zeroing to obtain the X of the carrier coordinate system b ，Y b ，Z b Respectively associated with X of the navigation system n ，Y n ，Z n Consistent (as in fig. 1), R is the distance of the MIMU mass center combined with the micro inertial measurement from the origin of the navigation system; 2) The middle frame rotates by an angle alpha in a position mode (as shown in figure 2); 3) The inner frame is rotated by a position angle beta (as shown in figure 3), R 1 The distance between the mass center of the MIMU and the Yn axis after the MIMU is rotated according to the step 3 is combined with the micro inertial measurement; 4) A (c)The outer frame rotates at a constant speed at an angular velocity ω (see fig. 4). So that the carrier is subjected to both gravitational and centripetal forces; under the action of gravity and centripetal force, the following results can be obtained:
in the formulas (2), (3) and (4), R, alpha and beta are known conditions, different alpha, beta and omega are changed, and multiple groups of data are collected to obtain the actual installation position value of the accelerometer:
due to the theoretical position u j Known according to u ej ＝u rj -u j The mounting position error u in the equation (1) ej And the related data is taken into formula (1), so that the assembly error A can be obtained ej (ii) a According to A j ＝A rj -A ej Obtaining the theoretical output value A of the accelerometer j 。
Compared with the prior art, the invention is different from the design idea of the existing correction scheme, and simultaneously considers the installation azimuth error and the installation position error, thereby being suitable for both a 3-gyroscope 3 accelerometer and a full accelerometer array; and any accelerometer in the micro inertial measurement unit MIMU can be independently compensated, the calculation amount is small, and the compensation precision is high.
Drawings
FIG. 1 is a schematic diagram of step 1 in determining an actual mounting location of an accelerometer;
FIG. 2 is a schematic diagram of step 2 in determining the actual mounting location of the accelerometer;
FIG. 3 is a schematic diagram of step 3 in determining the actual mounting location of the accelerometer;
FIG. 4 is a schematic diagram of step 4 in determining the actual mounting location of the accelerometer;
Detailed Description
An accelerometer assembly error scalar correction method in a strapdown inertial navigation measurement combination is based on an actual output value A of an accelerometer j in a carrier system rj (i.e. its measured acceleration value in the actual sensitive direction) minus the theoretical output value A j (i.e. acceleration values with the sensitivity direction being the theoretical orientation) is equal to the error value A ej I.e. A ej ＝A rj -A j Then A is j ＝A rj -A ej ；
Let the theoretical mounting position and orientation of accelerometer j be u j And theta j The actual position and orientation is u rj And theta rj Then the actual output and the theoretical output of the accelerometer are respectively:
wherein:
g n ＝[0；-9.8；0]；
according to A ej ＝A rj -A j Obtaining:
the derivation process is as follows:
wherein: f. of b : accelerometer array centroid apparent acceleration
u ej : mounting position error, u ej ＝u rj -u j
u rj : actual installation location
θ ej : azimuthal error, θ ej ＝θ rj -θ j
θ j : theoretical orientation
As shown in the equation (1), the assembly error A ej Depending on the linear and angular movements of the carrier, when the carrier has only linear movement and no angular movement, then the assembly error is related only to the accelerometer mounting orientation error and not to the mounting position error.
Wherein, the actual installation position u of the accelerometer is measured rj The method of (1): mounting the MIMU on the inner frame of the three-axis turntable, and performing 1) zeroing to obtain the X of the carrier coordinate system b ，Y b ，Z b Respectively associated with X of the navigation system n ，Y n ，Z n Consistent (as in fig. 1), R is the distance of the MIMU centroid from the navigation system origin; 2) The middle frame rotates by an angle alpha in a position mode (as shown in figure 2); 3) The inner frame is rotated by a position angle beta (as shown in figure 3), R 1 The distance between the mass center of the MIMU and the Yn axis after the MIMU is rotated according to the step 3 is combined with the micro inertial measurement; 4) AThe outer frame rotates at a constant speed at an angular velocity ω (see fig. 4). So that the carrier is subjected to both gravitational and centripetal forces; under the action of gravity and centripetal force, the following results are obtained:
in the formulas (2), (3) and (4), R, alpha and beta are known conditions, different alpha, beta and omega are changed, and multiple groups of data are collected to obtain the actual installation position value of the accelerometer:
due to the theoretical position u j Known according to u ej ＝u rj -u j The mounting position error u in the equation (1) ej And the related data is taken into formula (1), so that the assembly error A can be obtained ej (ii) a According to A j ＝A rj -A ej Obtaining the theoretical output value A of the accelerometer j 。
When the method is specifically implemented, the error of the MIMU accelerometer device is measured and combined by the micro-inertia at the same time: scale factor error s j And a fixed offset b j And random noise ξ generated during the measurement j ， The above-mentioned error and random noise determination and compensation schemes are well known in the art and can be implemented by those skilled in the art. In general, when compensating the output value of the accelerometer, random noise is first removed,then the fixed offset and scale factor errors are removed, and finally the assembly error is compensated.
Claims (1)
1. An accelerometer assembly error scalar correction method in a strapdown inertial navigation measurement combination is based on an actual output value A of an accelerometer j in a load system rj Minus the theoretical output value A j Is equal to the error value A ej I.e. A ej ＝A rj -A j Then A is j ＝A rj -A ej (ii) a The method is characterized in that:
let the theoretical mounting position and orientation of accelerometer j be u j And theta j The actual position and orientation is u rj And theta rj Then the actual output and the theoretical output of the accelerometer are respectively:
wherein:
g n ＝[0；-9.8；0]；
according to A ej ＝A rj -A j Obtaining:
wherein: f. of b : accelerometer array centroid apparent acceleration
u ej : mounting position error, u ej ＝u rj -u j
u rj : actual installation location
θ ej : azimuthal error, θ ej ＝θ rj -θ j
θ j : theoretical orientation
From the formula (1), the assembly error A ej Depending on the linear motion and the angular motion of the carrier, when the carrier only has the linear motion and does not have the angular motion, the assembly error is only related to the installation azimuth error of the accelerometer and is not related to the installation position error;
the actual installation position u of the accelerometer rj The method of (1): mounting the MIMU on the inner frame of the three-axis turntable, and performing 1) zeroing to obtain the X of the carrier coordinate system b ，Y b ，Z b Respectively associated with X of the navigation system n ，Y n ，Z nThe distance between the MIMU mass center and the origin of the navigation system is measured by using the micro-inertia measurement combination; 2) The middle frame rotates by an angle alpha in a position mode; 3) The inner frame being rotated by an angle beta, R 1 Measuring the distance from the center of mass of the combined MIMU to the Yn axis after the combined MIMU rotates according to the step 3; 4) The outer frame rotates at a constant angular speed ω (see fig. 4). So that the carrier is subjected to both gravitational and centripetal forces; under the action of gravity and centripetal force, the following results are obtained:
in the formulas (2), (3) and (4), R, alpha and beta are known conditions, different alpha, beta and omega are changed, and multiple groups of data are collected to obtain the actual installation position value of the accelerometer:
due to the theoretical position u j Known according to u ej ＝u rj -u j The mounting position error u in the formula (1) can be obtained ej And the related data is taken into formula (1), so that the assembly error A can be obtained ej (ii) a According to
Obtaining the theoretical output value A of the accelerometer j 。
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| CN101852818A (en) * | 2010-06-02 | 2010-10-06 | 北京航空航天大学 | Accelerometer error calibration and compensation method based on rotary mechanism |
| CN101887068A (en) * | 2010-06-01 | 2010-11-17 | 中北大学 | Calibration compensation method for triaxial vector sensor and biaxial vector sensor |
| CN101629969B (en) * | 2009-08-20 | 2010-12-01 | 北京航空航天大学 | Calibration compensation and testing method and device of output errors of low-precision optical fiber inertial measurement unit |
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| CN102944231A (en) * | 2012-11-06 | 2013-02-27 | 北京航天时代光电科技有限公司 | Optical path assembly auxiliary device of three-axis integral optical fiber gyroscope |
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| CN110954137A (en) * | 2019-12-13 | 2020-04-03 | 陕西瑞特测控技术有限公司 | Method for correcting assembly error scalar quantity of inertial navigation accelerometer |
| CN111220817A (en) * | 2019-12-10 | 2020-06-02 | 湖南航天机电设备与特种材料研究所 | Calibration method of three-axis accelerometer of strapdown inertial measurement unit |
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| US4262861A (en) * | 1978-10-16 | 1981-04-21 | The Singer Company | Inertially decoupled strapdown system |
| CN1089160C (en) * | 1998-08-07 | 2002-08-14 | 清华大学 | Method for three dimension position measurement using miniature inertia measurement combination |
| GB2371405B (en) * | 2001-01-23 | 2003-10-15 | Univ Glasgow | Improvements in or relating to semiconductor lasers |
| CN1932444B (en) * | 2006-09-30 | 2010-05-12 | 中北大学 | Attitude measuring method adapted to high speed rotary body |
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| CN101629969B (en) * | 2009-08-20 | 2010-12-01 | 北京航空航天大学 | Calibration compensation and testing method and device of output errors of low-precision optical fiber inertial measurement unit |
| CN101887068A (en) * | 2010-06-01 | 2010-11-17 | 中北大学 | Calibration compensation method for triaxial vector sensor and biaxial vector sensor |
| CN101852818A (en) * | 2010-06-02 | 2010-10-06 | 北京航空航天大学 | Accelerometer error calibration and compensation method based on rotary mechanism |
| CN101975872A (en) * | 2010-10-28 | 2011-02-16 | 哈尔滨工程大学 | Method for calibrating zero offset of quartz flexible accelerometer component |
| CN102183263A (en) * | 2010-10-28 | 2011-09-14 | 哈尔滨工程大学 | Method for calibrating fiber optic gyroscope constant drift |
| CN102944231A (en) * | 2012-11-06 | 2013-02-27 | 北京航天时代光电科技有限公司 | Optical path assembly auxiliary device of three-axis integral optical fiber gyroscope |
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| CN111220817A (en) * | 2019-12-10 | 2020-06-02 | 湖南航天机电设备与特种材料研究所 | Calibration method of three-axis accelerometer of strapdown inertial measurement unit |
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| CN110954137A (en) * | 2019-12-13 | 2020-04-03 | 陕西瑞特测控技术有限公司 | Method for correcting assembly error scalar quantity of inertial navigation accelerometer |
| CN110954137B (en) * | 2019-12-13 | 2023-03-24 | 陕西瑞特测控技术有限公司 | Method for correcting assembly error scalar quantity of inertial navigation accelerometer |
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