CN103226021A - Practical inertial navigation system calibration method - Google Patents
Practical inertial navigation system calibration method Download PDFInfo
- Publication number
- CN103226021A CN103226021A CN2012105946877A CN201210594687A CN103226021A CN 103226021 A CN103226021 A CN 103226021A CN 2012105946877 A CN2012105946877 A CN 2012105946877A CN 201210594687 A CN201210594687 A CN 201210594687A CN 103226021 A CN103226021 A CN 103226021A
- Authority
- CN
- China
- Prior art keywords
- calibration
- inertial navigation
- navigation system
- orientation
- transition apparatus
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Gyroscopes (AREA)
- Navigation (AREA)
Abstract
The invention relates to a practical inertial navigation system calibration method. The practical inertial navigation system calibration method comprises the following steps of 1, installing a transition device on a carrier base, 2, installing a calibration device on the transition device, and carrying out levelness and direction calibration of the transition device, and dismantling the calibration device after the levelness and direction calibration satisfies requirements, and 3, installing an inertial navigation system on the transition device so that inertial navigation system calibration is finished. The practical inertial navigation system calibration method has a reasonable design, simple processes and a wide application range, simplifies a calibration process, reduces calibration repeatability, improves work efficiency, and satisfies the installation demand of a mass of inertial navigation systems.
Description
Technical field
The present invention relates to the calibration field of inertial navigation system, the calibration method for designing of especially a kind of Laser strapdown inertial navigation system on warship.
Background technology
Along with the development of inertial navigation technology, military naval vessel and civilian ship are deepened day by day to the dependence of inertial navigation system.The installation of inertial navigation system all needs it is carried out the physics calibration, makes the level of system self consistent with the level and the orientation of carrier with the orientation.But the replacing or the system that have carried out being used to organize when inertial navigation system have carried out dismounting again, might just destroy the state of original benchmark, must carry out calibration again to level and orientation.
Calibration generally all can require carrier out of service, is in a stable horizontality.If carrier is the water surface or submersible vessels, also can require it to be in the pier state of sitting.The preliminary work that so not only needs the flower more time to carry out calibration also will be paid great amount of manpower and material resources and finish calibration work.
The installation of inertial navigation system in enormous quantities has been shifted the calibration work of inertial navigation system onto forward position, and how simplifying the calibration step to greatest extent, reducing the calibration time and how to avoid the repetition calibration all is the key issue that current inertial navigation system must face when installing and using.
Summary of the invention
The object of the present invention is to provide a kind of inertial navigation system calibration method of practicality, this method is only carried out calibration work when the initial one-step installation of equipment, and the back is no matter be the maintenance of equipment or all no longer needed to carry out calibration once more by integral replacing.
The objective of the invention is to realize by following technological means:
A kind of inertial navigation system calibration method of practicality is characterized in that: may further comprise the steps:
⑴. transition apparatus is installed on the carrier base;
⑵. the calibration device is installed on the transition apparatus, then to transition apparatus carrying out horizontal and orientation calibration; After level and orientation calibration reach requirement, remove the calibration device;
⑶. inertial navigation system is installed on the transition apparatus, has promptly finished calibration inertial navigation system.
And, no longer dismounting after the described transition apparatus of step ⑴ is installed on the carrier.
And described transition apparatus is made of base and two register pins, and these two register pins are installed on the base, and register pin is the stainless steel register pin of being made by stainless steel material.
And the upper surface of described base has can be for the horizontal reference for installation of the L shaped calibration support installation in inertial navigation system and the calibration device; Have the orientation reference for installation that can use for the L shaped calibration support in inertial navigation system and the calibration device on the base, this azimuth reference face is made up of two register pins.
And, the described calibration device of step ⑵ is made of L shaped calibration support and azimuth reference mirror, and the azimuth reference mirror is installed in the top of L shaped calibration support, and the azimuth reference mirror is level crossing or prism, the minute surface normal of azimuth reference mirror is vertical by face with the orientation of L shaped calibration support, and verticality is better than 3 ".
And, have horizontal reference for installation, horizontal checkout benchmark and orientation on the described L shaped calibration support by face.
And, the described inertial navigation system of step ⑶ have with the same horizontal mounting surface of L shaped calibration support and orientation by face.
Advantage of the present invention and good effect are:
1, this calibration method adopts transition apparatus and calibration device to carry out calibration, because inertial navigation system has identical benchmark with L shaped calibration support in the calibration device, has interchangeability, therefore, after utilizing L shaped calibration support that the level of transition apparatus and orientation calibration are finished, just be equivalent to finish calibration to inertial navigation system, this method is very simple and convenient, need not repeat calibration, be well positioned to meet system's installation requirement, significantly reduce the repeatability of calibration work, saved lot of manpower and material resources, and improved the efficient of calibration work greatly.
2, inertial navigation system has permanent dismounting repeatability with respect to transition apparatus, even the naval vessel also can carry out disassembling, assembling and replacing and not need to carry out calibration work again inertial navigation system, therefore solved the calibration problem that boats and ships are not sat pier state inertial navigation system under the state of navigation.
3, simple according to designed transition apparatus of this calibration method and calibration apparatus structure, make easy, easy to use.
4, the register pin in the transition apparatus is made by stainless steel material, can avoid slightly colliding with and cause the decline of reference field precision, helps ensureing the calibration precision.
5, the present invention is a kind of inertial navigation system calibration method reasonable in design, simple to operate, applied widely, uses this method can simplify the repeatability of calibration flow process, minimizing calibration, increase work efficiency, satisfy the needs that inertial navigation system in enormous quantities is installed.
Description of drawings
Fig. 1 is the synoptic diagram of transition apparatus;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 is transition apparatus and calibration schematic representation of apparatus;
Fig. 4 is the synoptic diagram of transition apparatus and inertial navigation system.
Embodiment
Be described in detail embodiments of the invention below in conjunction with accompanying drawing; Need to prove that present embodiment is narrative, is not determinate, can not limit protection scope of the present invention with this.
A kind of inertial navigation system calibration method of practicality may further comprise the steps:
⑴. transition apparatus is installed on the carrier base.Transition apparatus is installed on the carrier when equipment is installed for the first time, later on no longer dismounting.
Transition apparatus is made of base 1 and two register pins 2, and these two register pins are installed on the base, and register pin is the stainless steel register pin of being made by stainless steel material.
The upper surface of base has can be for the horizontal reference for installation of 3 installations of the L shaped calibration support in inertial navigation system 5 and the calibration device, and the precision of reference field can be determined voluntarily according to real system.
Have the orientation reference for installation that can use for the L shaped calibration support in inertial navigation system and the calibration device on the base, this azimuth reference face is made up of two register pins.The precision of azimuth reference face also can be determined voluntarily according to actual conditions.
⑵. the calibration device is installed on the transition apparatus,, after level and orientation calibration reach requirement, removes the calibration device then to transition apparatus carrying out horizontal and orientation calibration.The transition apparatus of this moment is exactly a benchmark of adjusting with level and orientation, and this benchmark is at follow-up its state that all no longer changes in any case.
The calibration device is made of L shaped calibration support and azimuth reference mirror 4, the azimuth reference mirror is installed in the top of L shaped calibration support, the azimuth reference mirror is level crossing or prism, and the minute surface normal of azimuth reference mirror is vertical by face with the orientation of L shaped calibration support, and verticality is better than 3 ".
Has horizontal reference for installation on the L shaped calibration support, so that be installed on the horizontal reference of base.Has the horizontal checkout benchmark on the L shaped calibration support, so that place the level meter of measurement level during calibration.Has the orientation on the L shaped calibration support by face, so that lean on last with the azimuth reference that forms by register pin when being installed on the base.
⑶. inertial navigation system is installed on the transition apparatus, has promptly finished calibration inertial navigation system.
Inertial navigation system have with the same horizontal mounting surface of L shaped calibration support and orientation by face.Inertial navigation system has permanent dismounting repeatability with respect to transition piece, even the naval vessel also can carry out disassembling, assembling and replacing and not need to carry out calibration work again under the state of navigation inertial navigation system.
Claims (7)
1. the inertial navigation system calibration method of a practicality is characterized in that: may further comprise the steps:
⑴. transition apparatus is installed on the carrier base;
⑵. the calibration device is installed on the transition apparatus, then to transition apparatus carrying out horizontal and orientation calibration; After level and orientation calibration reach requirement, remove the calibration device;
⑶. inertial navigation system is installed on the transition apparatus, has promptly finished calibration inertial navigation system.
2. the inertial navigation system calibration method of a kind of practicality according to claim 1 is characterized in that: no longer dismounting after the described transition apparatus of step ⑴ is installed on the carrier.
3. the inertial navigation system calibration method of a kind of practicality according to claim 1 and 2, it is characterized in that: described transition apparatus is made of base and two register pins, these two register pins are installed on the base, and register pin is the stainless steel register pin of being made by stainless steel material.
4. the inertial navigation system calibration method of a kind of practicality according to claim 3 is characterized in that: the upper surface of described base has the horizontal reference for installation that can install for the L shaped calibration support in inertial navigation system and the calibration device; Have the orientation reference for installation that can use for the L shaped calibration support in inertial navigation system and the calibration device on the base, this azimuth reference face is made up of two register pins.
5. the inertial navigation system calibration method of a kind of practicality according to claim 1, it is characterized in that: the described calibration device of step ⑵ is made of L shaped calibration support and azimuth reference mirror, the azimuth reference mirror is installed in the top of L shaped calibration support, the azimuth reference mirror is level crossing or prism, the minute surface normal of azimuth reference mirror is vertical by face with the orientation of L shaped calibration support, and verticality is better than 3 ".
6. the inertial navigation system calibration method of a kind of practicality according to claim 5 is characterized in that: have horizontal reference for installation, horizontal checkout benchmark and orientation on the described L shaped calibration support by face.
7. the inertial navigation system calibration method of a kind of practicality according to claim 1 is characterized in that: the described inertial navigation system of step ⑶ have with the same horizontal mounting surface of L shaped calibration support and orientation by face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210594687.7A CN103226021B (en) | 2012-12-31 | 2012-12-31 | A kind of inertial navigation system calibration method of practicality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210594687.7A CN103226021B (en) | 2012-12-31 | 2012-12-31 | A kind of inertial navigation system calibration method of practicality |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103226021A true CN103226021A (en) | 2013-07-31 |
| CN103226021B CN103226021B (en) | 2015-08-12 |
Family
ID=48836555
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210594687.7A Active CN103226021B (en) | 2012-12-31 | 2012-12-31 | A kind of inertial navigation system calibration method of practicality |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103226021B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103759743A (en) * | 2014-01-29 | 2014-04-30 | 西安航天精密机电研究所 | Azimuth benchmark transmission device for inertia measuring device and azimuth confirming method for inertia measuring device with large inclination angle |
| CN105300404A (en) * | 2014-07-09 | 2016-02-03 | 北京自动化控制设备研究所 | Calibration method for ship-referenced inertial navigation system |
| CN108318054A (en) * | 2018-02-01 | 2018-07-24 | 中国人民解放军国防科技大学 | Reloading calibration device and method for shipborne inertial navigation system |
| CN110006446A (en) * | 2019-03-21 | 2019-07-12 | 湖北三江航天红峰控制有限公司 | A kind of used group of output Calibration Method based on prism |
| CN112649020A (en) * | 2020-11-30 | 2021-04-13 | 西安航天三沃机电设备有限责任公司 | Multifunctional calibration testing device suitable for inertia assembly |
| CN112649023A (en) * | 2021-01-08 | 2021-04-13 | 中国船舶重工集团公司第七0七研究所 | Method suitable for installation calibration of small and medium-sized ship strapdown inertial navigation system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2263283C1 (en) * | 2004-10-27 | 2005-10-27 | Мезенцев Александр Павлович | Method and device for complex testing of flying micro-vehicle provided with platform-free inertial navigation system |
| CN101858754A (en) * | 2010-03-30 | 2010-10-13 | 浙江大学 | Inertial navigation level measurement method applied to airplane general assembly |
-
2012
- 2012-12-31 CN CN201210594687.7A patent/CN103226021B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2263283C1 (en) * | 2004-10-27 | 2005-10-27 | Мезенцев Александр Павлович | Method and device for complex testing of flying micro-vehicle provided with platform-free inertial navigation system |
| CN101858754A (en) * | 2010-03-30 | 2010-10-13 | 浙江大学 | Inertial navigation level measurement method applied to airplane general assembly |
Non-Patent Citations (3)
| Title |
|---|
| 崔鹏程等: "舰载导弹用捷联惯导系统校准技术研究", 《中国惯性技术学报》, vol. 15, no. 1, 28 February 2007 (2007-02-28), pages 12 - 15 * |
| 李清军等: "一种校准机（舰）载惯导航向偏差的方法", 《武汉大学学报 信息科学版》, vol. 28, no. 2, 30 April 2003 (2003-04-30), pages 158 - 161 * |
| 王延风等: "船用标校系统支座结构的计算机辅助工程分析与计算", 《光学精密工程》, vol. 2, no. 2, 30 April 1994 (1994-04-30), pages 57 - 64 * |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103759743A (en) * | 2014-01-29 | 2014-04-30 | 西安航天精密机电研究所 | Azimuth benchmark transmission device for inertia measuring device and azimuth confirming method for inertia measuring device with large inclination angle |
| CN103759743B (en) * | 2014-01-29 | 2016-08-24 | 西安航天精密机电研究所 | When inertial measuring unit azimuth reference transfer device and high inclination-angle, orientation determines method |
| CN105300404A (en) * | 2014-07-09 | 2016-02-03 | 北京自动化控制设备研究所 | Calibration method for ship-referenced inertial navigation system |
| CN105300404B (en) * | 2014-07-09 | 2017-12-26 | 北京自动化控制设备研究所 | A kind of naval vessel benchmark inertial navigation system Calibration Method |
| CN108318054A (en) * | 2018-02-01 | 2018-07-24 | 中国人民解放军国防科技大学 | Reloading calibration device and method for shipborne inertial navigation system |
| CN108318054B (en) * | 2018-02-01 | 2020-05-29 | 中国人民解放军国防科技大学 | Reloading calibration device and method for shipborne inertial navigation system |
| CN110006446A (en) * | 2019-03-21 | 2019-07-12 | 湖北三江航天红峰控制有限公司 | A kind of used group of output Calibration Method based on prism |
| CN110006446B (en) * | 2019-03-21 | 2021-05-14 | 湖北三江航天红峰控制有限公司 | Prism-based inertial measurement unit output calibration method |
| CN112649020A (en) * | 2020-11-30 | 2021-04-13 | 西安航天三沃机电设备有限责任公司 | Multifunctional calibration testing device suitable for inertia assembly |
| CN112649023A (en) * | 2021-01-08 | 2021-04-13 | 中国船舶重工集团公司第七0七研究所 | Method suitable for installation calibration of small and medium-sized ship strapdown inertial navigation system |
| CN112649023B (en) * | 2021-01-08 | 2022-12-09 | 中国船舶重工集团公司第七0七研究所 | Method suitable for installation calibration of small and medium-sized ship strapdown inertial navigation system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103226021B (en) | 2015-08-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103226021A (en) | Practical inertial navigation system calibration method | |
| CN103778803B (en) | A kind of inland river hydrology real-time locating and monitoring system of water administration ship and method | |
| GB201019837D0 (en) | Bridge apparatus | |
| CN107985631B (en) | Low-orbit micro-nano satellite and on-orbit installation method suitable for pulse micro-arc electric thruster | |
| CN103713303A (en) | Navigational satellite positioning method and system based on ionospheric delay improvement | |
| CN203889005U (en) | Water monitoring buoy balancing device | |
| CN110058284A (en) | High-precision ship profile construction method based on more positioning labels | |
| CN109543994A (en) | A kind of unmanned plane dispositions method and device | |
| CN105618973A (en) | Spirit level for ship flange mounting and ship flange mounting process | |
| CN103913755A (en) | GPS-based shallow water high-precision positioning and navigation system | |
| CN106120689A (en) | A kind of detachable ice resistant device being applicable to marine large diameter pile | |
| CN204269139U (en) | The receiver supporting seat that a kind of flatness is adjustable | |
| CN204623755U (en) | A kind of bearing Mounting device of single-bearing boats and ships | |
| CN205104310U (en) | Post insulators fixing device for electrical equipment | |
| CN104344181B (en) | A kind of activity observation frame | |
| Xu et al. | Linear fixed weight combination prediction model and model optimum seeking method | |
| CN204694222U (en) | The disaster monitoring station arrangement based on big-dipper satellite of energy-saving safety | |
| CN203894247U (en) | ADCP sensor underwater verticality adjusting device | |
| CN202853601U (en) | Centralized positioning assembly for sextant indication arm | |
| CN109470270B (en) | Inertial navigation equipment maintenance repair method | |
| CN216251091U (en) | Multipurpose antenna mark suitable for big dipper ground reinforcing reference station | |
| CN203811078U (en) | Installation positioning auxiliary tool of ship ballast pipe system | |
| CN210263364U (en) | A mounting platform for big dipper ground reinforcing station | |
| Lee et al. | Design of situation awareness and aids to navigation structure of VTS for maritime safety | |
| CN203921181U (en) | Screw shaft of ship nominal endocentric phrase |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |