CN105241478B - A kind of single axis modulation Laser-gym Inertial Navigation System multi-coordinate scaling method - Google Patents
A kind of single axis modulation Laser-gym Inertial Navigation System multi-coordinate scaling method Download PDFInfo
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- CN105241478B CN105241478B CN201510657656.5A CN201510657656A CN105241478B CN 105241478 B CN105241478 B CN 105241478B CN 201510657656 A CN201510657656 A CN 201510657656A CN 105241478 B CN105241478 B CN 105241478B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
Abstract
The invention discloses a kind of single axis modulation Laser-gym Inertial Navigation System multi-coordinate scaling method, comprise the following steps：System electrification enters the preparatory stage after starting, and determines IMU installation base surface postures；Admission navigation initial data；Proofreading Software reads initial data and carries out posture conversion Eulerian angles calculating；Marble calibration is completed；Azimuth mirror calibration prepares；Determine the horizontal basal plane of inertial navigation and azimuth mirror normal direction；Admission navigation initial data；Proofreading Software reads initial data and carries out posture conversion Eulerian angles calculating；Azimuth mirror calibration is completed；The present invention avoids traditional means to ensure that attitude accuracy works must carry out numerous and diverse calibration after IMU is changed by marble calibration, and inertial navigation system coordinate system and horizontal basal plane, the unification of azimuth mirror coordinate system, convenient follow-up batch of production are realized by azimuth mirror calibration.
Description
Technical field
The invention belongs to single axis modulation laser-inertial navigation technical field, and in particular to a kind of single axis modulation laser gyro is used to
Property navigation system multi-coordinate scaling method.
Background technology
Inertial navigation system is the line motion and angular movement relative to inertial space using inertia sensitive element measurement carrier
Parameter, according to Newton's laws of motion under given motion primary condition, instantaneous velocity and the position of carrier are calculated, typically may be used also
To obtain the attitude information of carrier.
Inertial navigation system belongs to independent navigation, possesses the plurality of advantages that other navigation system do not possess, in navigation procedure, nothing
Any external information need to be relied on, need to only rely on itself gyroscope and accelerometer both inertia type instruments, can be completed from leading
Boat.It can continuously provide whole navigational parameters such as the position of carrier, speed, posture, and have very high precision in short-term
And stability, it is disguised it is strong, round-the-clock, without geographical restrictions and outstanding advantages of be not easy by artificial external interference, it is thus wide
It is general to be applied to the fields such as space flight, aviation and navigation.
Laser-gym Inertial Navigation System has in light weight, simple in construction, high reliability, can independently provide load
The information such as position, speed and the posture of body, it is the guarantee of warship safety navigation.For single axis modulation laser gyro inertial navigation system
System, modulation axle angle measurement value must be deducted as zero position after normal navigation resolves to obtain inertial measurement cluster (IMU) posture
IMU postures, but the posture not directly gives user on warship, it is necessary to by user coordinates on inertial navigation system coordinate system and warship
System carries out unified demarcation.
The normal work of the detection systems such as shipborne radar, photoelectricity is required for accurate ship gesture information, and ship gesture
Information is typically all to be provided by carrier-borne inertial navigation system.User must before the attitude information provided using inertial navigation system on these warships
The coordinate system of the two must be carried out to unified demarcation.
For convenience of the unified staking-out work of user coordinate system on its coordinate system after warship in laser inertial system and warship, laser is used to
The calibration frock such as the horizontal basal plane of setting, azimuth mirror on the inertial device led, the physics as this device measuring coordinate system reappear, and
Alignment error azimuth between this device measuring coordinate system and naval vessels deck coordinate system is provided using corresponding scaling method.So
Corresponding staking-out work should be carried out before upper warship, realizes the unification of laser inertial system coordinate system and calibration frock coordinate system.
Simultaneously when unrepairable failure occurs in the core component IMU as laser inertial system, it is necessary to carry out quick-replaceable at the scene.
The IMU after replacing is demarcated, it is necessary to be consumed a longer time using traditional optical means.Due to bad environments, sky on warship
Between narrow and small, naval vessel be in swinging condition, these, which to reinstall, carries out the demarcation of coordinate system one after IMU on warship and becomes extremely
Difficulty, cause inertial device to resume work in time, influence equipment normal use.
The content of the invention
The shortcomings that present invention is in order to overcome prior art and deficiency, the invention provides one kind to realize single axis modulation laser top
The unified mark of the calibration frock coordinate systems such as the horizontal basal plane that is set on spiral shell inertial navigation system coordinate system and inertial device, azimuth mirror
Fixed method, avoid being demarcated using optical method again after changing IMU.
The technical solution adopted for the present invention to solve the technical problems is：A kind of single axis modulation laser gyro inertial navigation system
System multi-coordinate scaling method, comprises the following steps：A), system electrification enters the preparatory stage after starting, and determines IMU installation base surfaces
Posture；B), admission navigation initial data；C), Proofreading Software reads initial data and carries out posture conversion Eulerian angles calculating；D) it is, big
Reason stone calibration is completed；E), azimuth mirror calibration prepares；F) the horizontal basal plane of inertial navigation and azimuth mirror normal direction, are determined；G), admission is led
Boat initial data；H), Proofreading Software reads initial data and carries out posture conversion Eulerian angles calculating；I), azimuth mirror calibration is completed.
A kind of described single axis modulation Laser-gym Inertial Navigation System multi-coordinate scaling method, its step a) to step
D) marble calibration concretely comprises the following steps in：
IMU is connected by high-precision quick positioning system and its bottom installation base surface, while passes through difference electronic horizon
Marble platform level-off is ensured the depth of parallelism of IMU installation base surfaces and marble platform table top, then passes through gyro longitude and latitude by instrument
Instrument determines the course H of calibration mirrorM, by host computer enroll three and a half hours navigation initial data, start record the number moment ensure
Calibration mirror normal direction faces gyrotheodolite, and IMU courses are changed into 180 degree to strengthen the Kalman in alignment per half an hour
Wave filter is to the observation in course, and last half an hour is it should be ensured that the normal direction of calibration mirror faces gyrotheodolite；
Treat that reading navigation initial data by navigation simulation software after initial data admission carries out navigation calculation, obtains
IMU current pose angles：Pitching is PI, rolling RI, course HI, and then obtain IMU current poses and IMU installation base surface appearances
Posture conversion Eulerian angles between state.
A kind of described single axis modulation Laser-gym Inertial Navigation System multi-coordinate scaling method, its IMU current pose
The calculation process of posture conversion Eulerian angles between IMU installation base surface postures is as follows：
(1) the Eulerian angles deltH on course conversion for the first time, is calculated1：
deltH1=HM-HI
And by pose transformation matrix：IMU posture squares are obtained to navigation calculation
Battle array is once changed；
(2) the IMU attitude angles after, being changed by pose transformation matrix：Pitching is P1, rolling R1, course H1, meter
Calculate the Eulerian angles deltP on pitching conversion for the first time1：
deltP1=-P1
And by pose transformation matrix：The attitude matrix that navigation calculation obtains is entered
Row is once changed；
(3) the IMU attitude angles after, being changed by pose transformation matrix：Pitching is P2, rolling R2, course H2, meter
Calculate the Eulerian angles deltR on rolling conversion for the first time2：
deltR2=-R2
And by pose transformation matrix：The attitude matrix obtained to navigation calculation
Once changed；
(4), tri- attitude angles of IMU are obtained it is after posture conversion three times more than：Pitching is P3, rolling R3, course is
H3, make deltH3=HM-H3、deltP3=-P3、deltR3=-R3If deltH3、deltP3、deltR3Absolute value be respectively less than
0.003 degree, then represent marble calibration success, otherwise repeat the operation in (1), (2), (3), until meeting that condition is stopped
Only calibration.
A kind of described single axis modulation Laser-gym Inertial Navigation System multi-coordinate scaling method, its step e) to step
I) azimuth mirror calibration in concretely comprises the following steps：
IMU is installed on single axis modulation Laser-gym Inertial Navigation System by high-precision quick positioning system and modulates turntable
Installation base surface on, the horizontal basal plane of inertial navigation system is subjected to leveling by difference electrolevel and jack, adjusted
Azimuth mirror normal on inertial navigation system and the angle H in geographical north are installed in by gyrotheodolite determination after flatf, afterwards by upper
Machine admission passes through navigation simulation software no less than the inertial navigation system navigation initial data of 7 hours after initial data admission
Read navigation initial data and carry out navigation calculation, obtain IMU in the posture that modulation turntable angle measurement is zero moment：Pitching is PINS, it is horizontal
Shake as RINS, course HINS, and then obtain the appearance between inertial navigation system posture and the horizontal basal plane attitude angle of inertial navigation system, azimuth mirror
State changes Eulerian angles.
A kind of described single axis modulation Laser-gym Inertial Navigation System multi-coordinate scaling method, its inertial navigation system posture
The calculation process of posture conversion Eulerian angles between the horizontal basal plane attitude angle of inertial navigation system, azimuth mirror is as follows：
(1) the Eulerian angles deltH on course conversion for the first time, is calculated1：
deltH1=Hf-HINS
And by pose transformation matrix：The attitude matrix obtained to navigation calculation
Once changed；
(2) the IMU attitude angles after, being changed by pose transformation matrix：Pitching is P1, rolling R1, course H1, meter
Calculate the Eulerian angles deltP on pitching conversion for the first time1：
deltP1=-P1
And by pose transformation matrix：The attitude matrix that navigation calculation obtains is entered
Row is once changed；
(3) the IMU attitude angles after, being changed by pose transformation matrix：Pitching is P2, rolling R2, course H2, meter
Calculate the Eulerian angles deltR on rolling conversion for the first time2：
deltR2=-R2
And by pose transformation matrix：The attitude matrix obtained to navigation calculation
Once changed；
(4), tri- attitude angles of IMU are obtained it is after posture conversion three times more than：Pitching is P3, rolling R3, course is
H3, make deltH3=Hf-H3、deltP3=-P3、deltR3=-R3If deltH3、deltP3、deltR3Absolute value be respectively less than
0.003 degree, then represent marble calibration success, otherwise repeat the operation in (1), (2), (3), until meeting that condition is stopped
Only calibration.
The beneficial effects of the invention are as follows：It is guarantee posture essence to avoid traditional means after IMU is changed by marble calibration
Spend and numerous and diverse calibration work must be carried out, inertial navigation system coordinate system and horizontal basal plane, azimuth mirror are realized by azimuth mirror calibration
The unification of coordinate system, convenient follow-up batch of production, user coordinate system on inertial navigation system coordinate system and warship is not carried out in system
When uniformly being demarcated, inertial navigation system coordinate system and horizontal base can effectively be realized according to the navigation initial data that system exports
The coordinate system of the calibration frock such as face, azimuth mirror is unified, and it is real not need optical method demarcate just energy after guarantee replacing IMU
Existing navigation information (posture, course) can meet index request, and repetitive positioning accuracy ensured within 30 seconds
Brief description of the drawings
Fig. 1 is the flow chart of the inventive method；
Fig. 2 is the schematic diagram of marble calibration of the present invention；
Fig. 3 is that Proofreading Software of the present invention completes calibration surface chart；
Fig. 4 is the schematic diagram of azimuth mirror calibration of the present invention；
Fig. 5 is that Proofreading Software of the present invention completes azimuth mirror calibration surface chart.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Shown in reference picture 1, the invention discloses a kind of demarcation of single axis modulation Laser-gym Inertial Navigation System multi-coordinate
Method, comprise the following steps：A), system electrification enters the preparatory stage after starting, and determines IMU installation base surface postures；B), admission is led
Boat initial data；C), Proofreading Software reads initial data and carries out posture conversion Eulerian angles calculating；D), marble calibration is completed；
E), azimuth mirror calibration prepares；F) the horizontal basal plane of inertial navigation and azimuth mirror normal direction, are determined；G), admission navigation initial data；h)、
Proofreading Software reads initial data and carries out posture conversion Eulerian angles calculating；I), azimuth mirror calibration is completed.
(1) marble calibration scheme
The purpose of marble calibration is to complete the unified calibration of IMU coordinate systems and IMU bottoms installation base surface coordinate system.Pass through
Marble demarcation makes different IMU components have identical posture and course on same IMU bottoms installation base surface, relies on simultaneously
High-precision quick positioning system, make IMU components that there is high accuracy to repeat installation accuracy, so as to meet the exchange of different IMU components
Property.
It is placed in after IMU is fixed by high-precision quick positioning system and its bottom installation base surface in rigid hexahedron,
In the case of ensuring marble platform level, then rigid hexahedron is placed on marble platform table top, passes through setting in structure
Meter ensures the depth of parallelism of IMU bottom installation base surfaces and marble platform table top.After hexahedral course being determined by gyrotheodolite
Course and the horizontal attitude of IMU bottoms installation base surface are determined that, when enrolling original navigation initial data every half an hour
By the change of IMU courses once, and last half an hour is it should be ensured that IMU courses are consistent with the course for just starting power up the moment.By
Proofreading Software reads can after initial data progress navigation calculation obtains IMU attitude angles and calculates IMU attitude angles and IMU bottoms
The angle of deviation between installation base surface attitude angle.IMU coordinate systems and IMU bottoms installation base surface are realized by pose transformation matrix afterwards
The unification of coordinate system, so as to complete marble calibration.
Shown in reference picture 2, IMU is installed into base by high-precision quick positioning system and its bottom before marble calibration
Face is connected, while by difference electrolevel by marble platform level-off, ensures IMU installation base surfaces and marble platform platform
The depth of parallelism in face, the course H of calibration mirror is then determined by gyrotheodoliteM, so far we have determined that IMU installation bases
The posture in face：Horizontal attitude is zero, course HM.Three and a half hours navigation initial data are enrolled by host computer, start to record number
Moment ensures that calibration mirror normal direction faces gyrotheodolite, is being directed at IMU courses change 180 degree to strengthen per half an hour
When Kalman filter to the observation in course, last half an hour is it should be ensured that the normal direction of calibration mirror faces gyro longitude and latitude
Instrument.
Treat that reading navigation initial data by navigation simulation software after initial data admission carries out navigation calculation, obtains
IMU current pose angles：Pitching is PI, rolling RI, course HI.Because IMU installation base surface attitude angles have obtained, then
The posture conversion Eulerian angles between IMU current poses and IMU installation base surface postures are can be obtained by, specific calculation process is as follows：
(1) the Eulerian angles deltH on course conversion for the first time, is calculated1：
deltH1=HM-HI
And by pose transformation matrix：IMU posture squares are obtained to navigation calculation
Battle array is once changed；
(2) the IMU attitude angles after, being changed by pose transformation matrix：Pitching is P1, rolling R1, course H1.Meter
Calculate the Eulerian angles deltP on pitching conversion for the first time1：
deltP1=-P1
And by pose transformation matrix：The attitude matrix that navigation calculation obtains is entered
Row is once changed；
(3) the IMU attitude angles after, being changed by pose transformation matrix：Pitching is P2, rolling R2, course H2.Meter
Calculate the Eulerian angles deltR on rolling conversion for the first time2：
deltR2=-R2
And by pose transformation matrix：The attitude matrix obtained to navigation calculation
Once changed；
(4), tri- attitude angles of IMU are obtained it is after posture conversion three times more than：Pitching is P3, rolling R3, course is
H3.Make deltH3=HM-H3、deltP3=-P3、deltR3=-R3If deltH3、deltP3、deltR3Absolute value be respectively less than
0.003 degree, then represent marble calibration success, otherwise repeat the operation in (1), (2), (3), until meeting that condition is stopped
Only calibration.
Show that IMU coordinate systems and IMU installation base surface coordinate systems realize unification after marble calibration success, can effectively avoid
Numerous and diverse calibration work that traditional calibration means are brought after IMU is changed.By it is above-mentioned repeat (1), (2), (3) every time when obtain
Course, pitching, roll attitude conversion Eulerian angles carry out it is cumulative just obtained the bookbinding parameter of set IMU components, and be stored in
In Flash.Only need to read after IMU is connected by high-precision quick positioning system with its bottom installation base surface when changing IMU every time
The bookbinding parameter is taken, inertia device measurement data is converted automatically, it is ensured that IMU components are defeated in demarcation frock
Go out uniformity.It is as shown in Figure 3 that Proofreading Software completes calibration interface.
Need to enroll minimum of three half an hour navigation initial data when carrying out marble calibration, to strengthen Kalman filter
IMU courses will be changed 180 degree, and ensure last half an hour IMU by device per half an hour in the meantime to the observability in course
Course with just start record number when course it is consistent.
IMU attitude angles and marble marking target angle have met bar in (4) after completion calibration as seen from Figure 2
Part, show calibration success.
(2) azimuth mirror calibration
The purpose of azimuth mirror calibration is to realize inertial navigation system coordinate system and azimuth mirror, the system for being horizontally mounted basal plane coordinate system
One.
The IMU bottoms being installed to by high-precision quick positioning system in inertial navigation system are pacified after marble calibration is completed
Fill on basal plane (horizontal basal plane), by difference electrolevel by the horizontal basal plane of inertial device after inertial navigation system is propped up with jack
Level-off, then determine to be installed on the azimuth mirror course on inertial device by gyrotheodolite.Read by Proofreading Software original
Data carry out can after navigation calculation obtains IMU attitude angles and calculated between IMU postures and horizontal basal plane, azimuth mirror course
The angle of deviation.Mirror calibration is completed by pose transformation matrix afterwards.
Azimuth mirror calibration schematic diagram is as shown in Figure 4.The horizontal basal plane of inertial navigation system should be passed through difference before azimuth mirror calibration
Divide electrolevel and jack to carry out leveling, inertial navigation system is installed in by gyrotheodolite determination after leveling is carried out
On azimuth mirror normal and geographical north angle Hf, it is original no less than the inertial navigation system navigation of 7 hours by host computer admission afterwards
Data.Initial data reads navigation initial data by navigation simulation software after enrolling and carries out navigation calculation, obtains IMU and exists
Modulate the posture that turntable angle measurement is zero moment：Pitching is PINS, rolling RINS, course HINS, due to the horizontal basal plane of inertial navigation system
Attitude angle and azimuth mirror normal and the angle in geographical north have learned that, then can be obtained by inertial navigation system posture and inertial navigation system
Posture conversion Eulerian angles between horizontal basal plane attitude angle, azimuth mirror, calculating process are as follows：
(1) the Eulerian angles deltH on course conversion for the first time, is calculated1：
deltH1=Hf-HINS
And by pose transformation matrix：The attitude matrix obtained to navigation calculation
Once changed；
(2) the IMU attitude angles after, being changed by pose transformation matrix：Pitching is P1, rolling R1, course H1.Meter
Calculate the Eulerian angles deltP on pitching conversion for the first time1：
deltP1=-P1
And by pose transformation matrix：The attitude matrix that navigation calculation obtains is entered
Row is once changed；
(3) the IMU attitude angles after, being changed by pose transformation matrix：Pitching is P2, rolling R2, course H2.Meter
Calculate the Eulerian angles deltR on rolling conversion for the first time2：
deltR2=-R2
And by pose transformation matrix：The attitude matrix obtained to navigation calculation
Once changed；
(4), tri- attitude angles of IMU are obtained it is after posture conversion three times more than：Pitching is P3, rolling R3, course is
H3.Make deltH3=Hf-H3、deltP3=-P3、deltR3=-R3If deltH3、deltP3、deltR3Absolute value be respectively less than
0.003 degree, then represent marble calibration success, otherwise repeat the operation in (1), (2), (3), until meeting that condition is stopped
Only calibration.
By it is above-mentioned repeat (1), (2), (3) every time when obtain course, pitching, roll attitude conversion Eulerian angles carry out
The cumulative bookbinding parameter for just having obtained the set inertial navigation system azimuth mirror calibration, the bookbinding parameter is bound into display control device, for used
Guiding systems convert automatically in real time.Show that inertial navigation system coordinate system can be answered by azimuth mirror come physics completely after azimuth mirror calibration success
It is existing, greatly facilitate the unified calibration that user coordinate system on inertial navigation system coordinate and warship is realized after dress warship.Proofreading Software completion side
Position mirror calibration interface is as shown in Figure 5.
Should be by the horizontal basal plane leveling of inertial navigation system when carrying out orientation mirror calibration, while ensuring inertial navigation system
Posture is no less than the navigation initial data of seven hours without the situation admission of change.
Inertial navigation system attitude angle and azimuth mirror marking target angle have met after completion calibration as seen from Figure 4
(4) conditional, calibration success is shown.
It is to ensure attitude accuracy and necessary after IMU is changed that the invention of the invention avoids traditional means by marble calibration
Numerous and diverse calibration work is carried out, inertial navigation system coordinate system and horizontal basal plane, azimuth mirror coordinate system are realized by azimuth mirror calibration
It is unified, convenient follow-up batch of production.The inventive method effectively can be sat calibrated and calculated single axis modulation Laser-gym Inertial Navigation System
Conversion angle between mark system and calibration frock coordinate system, and then realize single axis modulation Laser-gym Inertial Navigation System coordinate system
Unification between calibration frock coordinate system.
The above-described embodiments merely illustrate the principles and effects of the present invention, and the embodiment that part uses, for
For one of ordinary skill in the art, without departing from the concept of the premise of the invention, can also make it is some deformation and
Improve, these belong to protection scope of the present invention.
Claims (4)
- A kind of 1. single axis modulation Laser-gym Inertial Navigation System multi-coordinate scaling method, it is characterised in that：Including following step Suddenly：A), system electrification enters the preparatory stage after starting, and determines IMU installation base surface postures；B), admission navigation initial data；C), Proofreading Software reads initial data and carries out posture conversion Eulerian angles calculating；D), marble calibration is completed；E), azimuth mirror calibration prepares；F) the horizontal basal plane of inertial navigation and azimuth mirror normal direction, are determined；G), admission navigation initial data；H), Proofreading Software reads initial data and carries out posture conversion Eulerian angles calculating；I), azimuth mirror calibration is completed；The step a) marble calibrations into step d) concretely comprise the following steps：IMU is connected by high-precision quick positioning system and its bottom installation base surface, while will by difference electrolevel Marble platform level-off, ensure the depth of parallelism of IMU installation base surfaces and marble platform table top, then by gyrotheodolite come Determine the course H of calibration mirrorM, by host computer enroll three and a half hours navigation initial data, start record the number moment ensure calibration Mirror normal direction faces gyrotheodolite, and IMU courses are changed into 180 degree to strengthen the Kalman filter in alignment per half an hour Device is to the observation in course, and last half an hour is it should be ensured that the normal direction of calibration mirror faces gyrotheodolite；Treat that reading navigation initial data by navigation simulation software after initial data admission carries out navigation calculation, obtains IMU Current pose angle：Pitching is PI, rolling RI, course HI, and then obtain IMU current poses and IMU installation base surfaces posture it Between posture conversion Eulerian angles.
- 2. a kind of single axis modulation Laser-gym Inertial Navigation System multi-coordinate scaling method according to claim 1, its It is characterised by, the calculation process of the posture conversion Eulerian angles between IMU current poses and IMU the installation base surface posture is as follows：(1) the Eulerian angles deltH on course conversion for the first time, is calculated1：deltH1=HM-HIAnd by pose transformation matrix：The progress of IMU attitude matrixs is obtained to navigation calculation Once change；(2) the IMU attitude angles after, being changed by pose transformation matrix：Pitching is P1, rolling R1, course H1, calculate and close In the Eulerian angles deltP of pitching conversion for the first time1：deltP1=-P1And by pose transformation matrix：The attitude matrix obtained to navigation calculation carries out one Secondary conversion；(3) the IMU attitude angles after, being changed by pose transformation matrix：Pitching is P2, rolling R2, course H2, calculate and close In the Eulerian angles deltR of rolling conversion for the first time2：deltR2=-R2And by pose transformation matrix：The attitude matrix obtained to navigation calculation is carried out Once change；(4), tri- attitude angles of IMU are obtained it is after posture conversion three times more than：Pitching is P3, rolling R3, course H3, Make deltH3=HM-H3、deltP3=-P3、deltR3=-R3If deltH3、deltP3、deltR3Absolute value be respectively less than 0.003 degree, then represent marble calibration success, otherwise repeat the operation in (1), (2), (3), until meeting that condition is stopped Only calibration.
- 3. a kind of single axis modulation Laser-gym Inertial Navigation System multi-coordinate scaling method according to claim 1, its It is characterised by, the azimuth mirror calibration in the step e) to step i) concretely comprises the following steps：IMU is installed on to the peace of single axis modulation Laser-gym Inertial Navigation System modulation turntable by high-precision quick positioning system Fill on basal plane, the horizontal basal plane of inertial navigation system is subjected to leveling by difference electrolevel and jack, after leveling is carried out Determine to be installed in the azimuth mirror normal on inertial navigation system and the angle H in geographical north by gyrotheodolitef, recorded afterwards by host computer The inertial navigation system navigation initial data no less than 7 hours is taken, initial data is read after enrolling by navigation simulation software Initial data of navigating carries out navigation calculation, obtains IMU in the posture that modulation turntable angle measurement is zero moment：Pitching is PINS, rolling is RINS, course HINS, and then obtain the posture between inertial navigation system posture and the horizontal basal plane attitude angle of inertial navigation system, azimuth mirror and turn Change Eulerian angles.
- 4. a kind of single axis modulation Laser-gym Inertial Navigation System multi-coordinate scaling method according to claim 1, its It is characterised by, the posture conversion Eulerian angles between the inertial navigation system posture and the horizontal basal plane attitude angle of inertial navigation system, azimuth mirror Calculation process it is as follows：(1) the Eulerian angles deltH on course conversion for the first time, is calculated1：deltH1=Hf-HINSAnd by pose transformation matrix：The attitude matrix obtained to navigation calculation is carried out Once change；(2) the IMU attitude angles after, being changed by pose transformation matrix：Pitching is P1, rolling R1, course H1, calculate and close In the Eulerian angles deltP of pitching conversion for the first time1：deltP1=-P1And by pose transformation matrix：The attitude matrix obtained to navigation calculation carries out one Secondary conversion；(3) the IMU attitude angles after, being changed by pose transformation matrix：Pitching is P2, rolling R2, course H2, calculate and close In the Eulerian angles deltR of rolling conversion for the first time2：deltR2=-R2And by pose transformation matrix：The attitude matrix obtained to navigation calculation is carried out Once change；(4), tri- attitude angles of IMU are obtained it is after posture conversion three times more than：Pitching is P3, rolling R3, course H3, Make deltH3=Hf-H3、deltP3=-P3、deltR3=-R3If deltH3、deltP3、deltR3Absolute value be respectively less than 0.003 degree, then represent marble calibration success, otherwise repeat the operation in (1), (2), (3), until meeting that condition is stopped Only calibration.
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| 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 |
| CN109719722B (en) * | 2018-12-26 | 2021-07-23 | 南京埃斯顿机器人工程有限公司 | Method for accurately calibrating robot tail end and vision system |
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