CN109631941A - A kind of Inertial Platform System accelerometer installation error method for precisely marking - Google Patents
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Abstract
The present invention relates to a kind of Inertial Platform System accelerometer installation error method for precisely marking, this method can carry out the calibration of accurate Inertial Platform System accelerometer installation error under conditions of no accurate degree benchmark and vertical reference.It mainly realizes that step includes: that [1] three accelerometer pairwise orthogonal is installed in Inertial Platform, and design acceleration meter demarcates position arrangement scheme；[2] position arrangement scheme data acquisition is demarcated using accelerometer, accelerometer zero, accelerometer constant multiplier and accelerometer installation error is calculated by accelerometer error model；[3] accelerometer output is compensated using the accelerometer installation error of calculating；[4] accelerometer installation error compensation effect is verified.
Description
Technical field
The present invention relates to a kind of Inertial Platform System accelerometer installation error method for precisely marking.
Background technique
Inertial navigation technology mainly passes through sensitive carrier acceleration and posture information determines the kinematic parameter of carrier, realization pair
The functions such as navigation, guidance, positioning and directing and the control of carrier.Relative to other airmanships, using inertial technology as the used of core
Guiding systems be uniquely can in real time, it is continuous, automatically provide needed for whole navigation informations systems, and have it is round-the-clock, can not
It is disturbed, hidden and the features such as not by time, region, environmental restrictions, it is core information source and the benchmark letter of carrier movement parameter
Breath source is the core support technology of science and techniques of defence.
Inertial navigation system is divided into Platform INS Inertial and Methods of Strapdown Inertial Navigation System two major classes, and accelerometer is inertial navigation system two
One of big core inertial measurement sensor, for sensing the line motion information of carrier.In Inertial Platform System, accelerometer peace
It will cause platform stage body acceleration analysis information not if accelerometer installation opposed platforms stage body has deviation loaded on platform stage body
Standard influences Inertial Platform System navigation performance.The compensation of Inertial Platform System accelerometer installation error, which can effectively improve, is
System acceleration analysis precision, frame installation error compensation precision, alignment precision, navigation accuracy.
It is higher to inertial platform pre-launch self-calibration, autoregistration rapidity requirement in previous missile armament application, limited
In period, the zero degree item and first order of accelerometer can only be marked, the installation error of accelerometer can not be obtained.
But as missile weapon system is higher and higher to inertial navigation system required precision, only rely on equipment technique not can guarantee plus
Speedometer installation error meets high-precision applications demand.Therefore, it is necessary to be demarcated to accelerometer installation error, improves and accelerate
Degree meter error compensation model, improves acceleration measuring accuracy of measurement.Spatial stability type Inertial Platform System, can not provide accurate water
Flat benchmark and vertical reference, this brings certain difficulty to the calibration of accelerometer parameter.
In order to realize to accelerometer process alignment error calibration, several method is proposed in the prior art:
(1) multiposition rolling calibration is carried out using high-precision turntable, such method depends on high-precision test equipment
(three-axle table) provides horizontal and vertical benchmark, can not implement in the case where no high-precision three-axle table；
(2) platform continuously roll self-calibration autoregistration scheme [, such method with local gravity vector sum earth rotation angle speed
Spend on the basis of information, stage body controlled by frame system and is continuously rolled in 1g gravitational field, be completed at the same time calibration to platform with
Alignment, can efficiently separate inertia device installation error.The parameter that such method is once demarcated is more, can construct as needed
The inconsistent observability that will cause accelerometer installation error of different system models, model is different, and model selection does not conform to
It is suitable possibly even to cause accelerometer installation error unobservable, cause the installation error that can not pick out accelerometer；
(3) platform multiposition self-calibration scheme, such method mark gyroscope and accelerometer error parameter simultaneously, utilize
Platform framework carry out multiposition overturning, each position in place after, decontrol frame, make platform stage body relative inertness spatial stability, at this time
Relatively reason system is variation for accelerometer output, carries out parameter according to accelerometer output and acceleration of gravity parsing relationship
Identification, will affect accelerometer stated accuracy, according to system-level parameter identification method, calculating process is complex.
(4) technique guarantees, in previous platform application, accelerometer installation error guarantees by mounting process, and default accelerates
Degree meter installation error be it is a small amount of, when platform transformation autoregistration, does not consider accelerometer installation error.This method makes acceleration
It is complicated to count installation procedure.
Summary of the invention
In order to overcome the problems in background technique, the present invention provides one kind can be in no accurate degree benchmark and vertical reference
Under conditions of carry out accurate Inertial Platform System accelerometer installation error method for precisely marking.
The specific technical solution of the present invention is:
The present invention provides a kind of Inertial Platform System accelerometer installation error method for precisely marking, which is characterized in that
The following steps are included:
[1] three accelerometer pairwise orthogonal is installed in Inertial Platform, and design acceleration meter demarcates position arrangement
Scheme；
The accelerometer calibration position arrangement scheme includes six kinds of upturned position states of three accelerometers, respectively
Are as follows:
The first upturned position state: Y accelerometer is upward, and X accelerometer and Z accelerometer keep horizontal, right at this time
Inner frame angle, stage body frame corners and the outer framework angle for the Inertial Platform answered are 0 °；
Second of upturned position state: Y accelerometer is downward, and X accelerometer and Z accelerometer keep horizontal,
The inner frame angle of corresponding Inertial Platform is 0 ° at this time, stage body frame corners are 270 ° and outer framework angle is
180°；
The third upturned position state: Z accelerometer is upward, and X accelerometer and Y accelerometer keep horizontal,
The inner frame angle of corresponding Inertial Platform is 0 ° at this time, stage body frame corners are 270 ° and outer framework angle is
270°；
5th kind of upturned position state: X accelerometer is downward, and X accelerometer and Z accelerometer keep horizontal, right at this time
The inner frame angle for the Inertial Platform answered is 0 °, stage body frame corners are 180 ° and outer framework angle is 270 °；
6th kind of upturned position state: Z accelerometer is downward, and X accelerometer and Z accelerometer keep horizontal, right at this time
The inner frame angle for the Inertial Platform answered is 0 °, stage body frame corners are 90 ° and outer framework angle is 270 °；
6th state: X accelerometer is upward, and X accelerometer and Z accelerometer keep horizontal, and corresponding inertia is flat at this time
The inner frame angle of platform stage body is 0 °, stage body frame corners are 0 ° and outer framework angle is 270 °；
[2] position arrangement scheme data acquisition is demarcated using accelerometer, is calculated by accelerometer error model
Accelerometer zero, accelerometer constant multiplier and accelerometer installation error；
Wherein, the accelerometer zero calculation formula of X accelerometer are as follows:
The accelerometer constant multiplier calculation formula of X accelerometer are as follows:
The accelerometer installation error calculation formula of X accelerometer are as follows:
Wherein, the accelerometer zero calculation formula of Y accelerometer are as follows:
The accelerometer constant multiplier calculation formula of Y accelerometer are as follows:
The accelerometer installation error calculation formula of Y accelerometer are as follows:
Wherein, the accelerometer zero calculation formula of Z accelerometer are as follows:
The accelerometer constant multiplier calculation formula of Z accelerometer are as follows:
The accelerometer installation error calculation formula of Z accelerometer are as follows:
In formula:
Nax(i) the apparent acceleration pulse exported in i-th of upturned position state down-sampling period Δ T for X accelerometer
Increment, unit: ^；i
Nay(i) the apparent acceleration pulse exported in i-th of upturned position state down-sampling period Δ T for Y accelerometer
Increment, unit: ^；
Naz(i) the apparent acceleration pulse exported in i-th of upturned position state down-sampling period Δ T for Z accelerometer
Increment, unit: ^；
K0x、K0y、K0zThe respectively zero-bit of X accelerometer, Y accelerometer and Z accelerometer, unit: ^/s；
K1x、K1y、K1z--- the respectively constant multiplier of X accelerometer, Y accelerometer and Z accelerometer, unit: ^/
(g·s)；
Kzx、KyxRespectively X accelerometer is relative to Y, the installation error of Z axis, unit: ^/(gs)；
Kzy、KxyRespectively Y accelerometer is relative to X, the installation error of Z axis, unit: ^/(gs)；
Kyz、KxzRespectively Z accelerometer is relative to X, the installation error of Y-axis, unit: ^/(gs)；
[3] accelerometer output is compensated using the accelerometer installation error of calculating；
[4] accelerometer installation error compensation effect is verified；
[4.1] decision threshold M is set, M is constant；
[4.2] verification process of installation error are as follows:
A: installation error KxyVerification process are as follows: by Y-axis accelerometer adjustment in the horizontal direction, by Z axis accelerometer
It is horizontal with placement upwards respectively, when the Y accelerometer output under two states is consistent, according to the Y accelerometer under two states
The absolute value of the difference S of output valve is compared with decision threshold M, if S≤M, can determine that installation error KxyAccurately；Otherwise installation error
KxyIt needs further to demarcate；
B: installation error KxzVerification process are as follows: by Z axis accelerometer adjustment in the horizontal direction, by Y-axis accelerometer
It is horizontal with placement upwards respectively, when the Z accelerometer output under two states is consistent, according to the Z accelerometer under two states
The absolute value of the difference S of output valve is compared with decision threshold M, if S≤M, can determine that installation error KxzAccurately；Otherwise installation error
KxzIt needs further to demarcate；
C: installation error KyxVerification process are as follows: by X-axis accelerometer adjustment in the horizontal direction, by Z axis accelerometer
It is horizontal with placement upwards respectively, when the X accelerometer output under two states is consistent, according to the X accelerometer under two states
The absolute value of the difference S of output valve is compared with decision threshold M, if S≤M, can determine that installation error KyxAccurately；Otherwise installation error
KyxIt needs further to demarcate；
D: installation error KyzVerification process are as follows: by Z axis accelerometer adjustment in the horizontal direction, by X-axis accelerometer
It is horizontal with placement upwards respectively, when the Z accelerometer output under two states is consistent, according to the Z accelerometer under two states
The absolute value of the difference S of output valve is compared with decision threshold M, if S≤M, can determine that installation error KyzAccurately；Otherwise installation error
KyzIt needs further to demarcate；
E: installation error KzxVerification process are as follows: by X-axis accelerometer adjustment in the horizontal direction, by Y-axis accelerometer
It is horizontal with placement upwards respectively, when the X accelerometer output under two states is consistent, according to the X accelerometer under two states
The absolute value of the difference S of output valve is compared with decision threshold M, if S≤M, can determine that installation error KzxAccurately；Otherwise installation error
KzxIt needs further to demarcate；
F；Installation error KzyVerification process are as follows: by Y-axis accelerometer adjustment in the horizontal direction, by X-axis accelerometer
It is horizontal with placement upwards respectively, when the Y accelerometer output under two states is consistent, according to the Y accelerometer under two states
The absolute value of the difference S of output valve is compared with decision threshold M, if S≤M, can determine that installation error KzyAccurately；Otherwise installation error
KzyIt needs further to demarcate；
[5] if each installation error meets accelerometer index request, the fix error angle obtained is effective, and calibration terminates；
Otherwise step [2]-[4] are repeated.
Further, accelerometer error model described in the step [2] is；
In formula:
ax、ay、az--- it is respectively X, Y and Z axis axial view acceleration, unit: g.
The present invention has the advantages that
The present invention uses accelerometer installation error multiposition iteration scaling method, realizes spatial stability type inertial platform
System carries out the calibration of accurate accelerometer installation error under conditions of no accurate degree benchmark and vertical reference, improves
Plateform system accelerometer error compensation precision.
Detailed description of the invention
Fig. 1 is flow diagram of the invention.
Specific embodiment
Method of the invention is further described with reference to the accompanying drawing:
The detailed process of this method is as shown in Figure 1:
1, three accelerometer pairwise orthogonals are installed in Inertial Platform, and design acceleration meter demarcates position arrangement side
Case；
Accelerometer parameter calibration uses six position arrangement schemes, and specific layout is as shown in table 1.Carrying out six location positions
Before, acceleration analysis channel should complete the early periods such as analog-to-digital conversion constant multiplier asymmetry, scale factory non-linearity, temperature-compensating
Error compensation, it is ensured that subsequent accelerometer process alignment error calibration is accurate.
1 accelerometer parameter calibration position arrangement of table
Serial number 1-6 distinguishes six kinds of upturned position states of three accelerometers in the table, and concrete meaning is:
The first upturned position state: Y accelerometer is upward, and X accelerometer and Z accelerometer keep horizontal, right at this time
Inner frame angle, stage body frame corners and the outer framework angle for the Inertial Platform answered are 0 °；
Second of upturned position state: Y accelerometer is downward, and X accelerometer and Z accelerometer keep horizontal,
The inner frame angle of corresponding Inertial Platform is 0 ° at this time, stage body frame corners are 270 ° and outer framework angle is
180°；
The third upturned position state: Z accelerometer is upward, and X accelerometer and Y accelerometer keep horizontal,
The inner frame angle of corresponding Inertial Platform is 0 ° at this time, stage body frame corners are 270 ° and outer framework angle is
270°；
5th kind of upturned position state: X accelerometer is downward, and X accelerometer and Z accelerometer keep horizontal, right at this time
The inner frame angle for the Inertial Platform answered is 0 °, stage body frame corners are 180 ° and outer framework angle is 270 °；
6th kind of upturned position state: Z accelerometer is downward, and X accelerometer and Z accelerometer keep horizontal, right at this time
The inner frame angle for the Inertial Platform answered is 0 °, stage body frame corners are 90 ° and outer framework angle is 270 °；
6th state: X accelerometer is upward, and X accelerometer and Z accelerometer keep horizontal,
The inner frame angle of corresponding Inertial Platform is 0 ° at this time, stage body frame corners are 0 ° and outer framework angle is
270°；
2, position arrangement scheme data acquisition is demarcated using accelerometer, is calculated and is added by accelerometer error model
Speedometer zero-bit, accelerometer constant multiplier and accelerometer installation error；
In view of parameters such as accelerometer zero, constant multiplier, installation errors, accelerometer error model be may be expressed as:
In formula:
Nax、Nay、Naz--- it is respectively the apparent acceleration pulse increasing that X, Y and Z accelerometer export in sampling period Δ T
Amount, unit: ^；
ax、ay、az--- it is respectively X, Y and Z axis axial view acceleration, unit: g；
K0x、K0y、K0zThe respectively zero-bit of X accelerometer, Y accelerometer and Z accelerometer, unit: ^/s；
K1x、K1y、K1z--- the respectively constant multiplier of X accelerometer, Y accelerometer and Z accelerometer, unit: ^/
(g·s)；
Kzx、KyxRespectively X accelerometer is relative to Y, the installation error of Z axis, unit: ^/(gs)；
Kzy、KxyRespectively Y accelerometer is relative to X, the installation error of Z axis, unit: ^/(gs)；
Kyz、KxzRespectively Z accelerometer is relative to X, the installation error of Y-axis, unit: ^/(gs)；
By the layout scheme of step 1 and the accelerometer error model of step 2, can obtain:
The accelerometer zero calculation formula of X accelerometer are as follows:
The accelerometer constant multiplier calculation formula of X accelerometer are as follows:
The accelerometer installation error calculation formula of X accelerometer are as follows:
The accelerometer zero calculation formula of Y accelerometer are as follows:
The accelerometer constant multiplier calculation formula of Y accelerometer are as follows:
The accelerometer installation error calculation formula of Y accelerometer are as follows:
The accelerometer zero calculation formula of Z accelerometer are as follows:
The accelerometer constant multiplier calculation formula of Z accelerometer are as follows:
The accelerometer installation error calculation formula of Z accelerometer are as follows:
In formula:
Nax(i) the apparent acceleration pulse exported in i-th of upturned position state down-sampling period Δ T for X accelerometer
Increment, unit: ^；
Nay(i) the apparent acceleration pulse exported in i-th of upturned position state down-sampling period Δ T for Y accelerometer
Increment, unit: ^；
Naz(i) the apparent acceleration pulse exported in i-th of upturned position state down-sampling period Δ T for Z accelerometer
Increment, unit: ^；
3, accelerometer output is compensated using the accelerometer installation error of calculating；
4, accelerometer installation error compensation effect is verified；
4.1, decision threshold M is set, M is constant；
4.2, the verification process of installation error are as follows:
A: installation error KxyVerification process are as follows: by Y-axis accelerometer adjustment in the horizontal direction, by Z axis accelerometer
It is horizontal with placement upwards respectively, when the Y accelerometer output under two states is consistent, according to the Y accelerometer under two states
The absolute value of the difference S of output valve is compared with decision threshold M, if S≤M, can determine that installation error KxyAccurately；Otherwise installation error
KxyIt needs further to demarcate；
B: installation error KxzVerification process are as follows: by Z axis accelerometer adjustment in the horizontal direction, by Y-axis accelerometer
It is horizontal with placement upwards respectively, when the Z accelerometer output under two states is consistent, according to the Z accelerometer under two states
The absolute value of the difference S of output valve is compared with decision threshold M, if S≤M, can determine that installation error KxzAccurately；Otherwise installation error
KxzIt needs further to demarcate；
C: installation error KyxVerification process are as follows: by X-axis accelerometer adjustment in the horizontal direction, by Z axis accelerometer
It is horizontal with placement upwards respectively, when the X accelerometer output under two states is consistent, according to the X accelerometer under two states
The absolute value of the difference S of output valve is compared with decision threshold M, if S≤M, can determine that installation error KyxAccurately；Otherwise installation error
KyxIt needs further to demarcate；
D: installation error KyzVerification process are as follows: by Z axis accelerometer adjustment in the horizontal direction, by X-axis accelerometer
It is horizontal with placement upwards respectively, when the Z accelerometer output under two states is consistent, according to the Z accelerometer under two states
The absolute value of the difference S of output valve is compared with decision threshold M, if S≤M, can determine that installation error KyzAccurately；Otherwise installation error
KyzIt needs further to demarcate；
E: installation error KzxVerification process are as follows: by X-axis accelerometer adjustment in the horizontal direction, by Y-axis accelerometer
It is horizontal with placement upwards respectively, when the X accelerometer output under two states is consistent, according to the X accelerometer under two states
The absolute value of the difference S of output valve is compared with decision threshold M, if S≤M, can determine that installation error KzxAccurately；Otherwise installation error
KzxIt needs further to demarcate；
F；Installation error KzyVerification process are as follows: by Y-axis accelerometer adjustment in the horizontal direction, by X-axis accelerometer
It is horizontal with placement upwards respectively, when the Y accelerometer output under two states is consistent, according to the Y accelerometer under two states
The absolute value of the difference S of output valve is compared with decision threshold M, if S≤M, can determine that installation error KzyAccurately；Otherwise installation error
KzyIt needs further to demarcate；
If 5, each installation error meets accelerometer index request, the fix error angle obtained is effective, and calibration terminates；It is no
Step 2 is then repeated to 4.
Under normal circumstances, iteration is demarcated 2~3 times, and the calibration result of accelerometer installation error can be met the requirements.
Claims (2)
1. a kind of Inertial Platform System accelerometer installation error method for precisely marking, which comprises the following steps:
[1] three accelerometer pairwise orthogonal is installed in Inertial Platform, and design acceleration meter demarcates position arrangement scheme；
The accelerometer calibration position arrangement scheme includes six kinds of upturned position states of three accelerometers, is respectively as follows:
The first upturned position state: Y accelerometer is upward, and X accelerometer and Z accelerometer keep horizontal, corresponding at this time
Inner frame angle, stage body frame corners and the outer framework angle of Inertial Platform are 0 °；
Second of upturned position state: Y accelerometer is downward, and X accelerometer and Z accelerometer keep horizontal,
The inner frame angle of corresponding Inertial Platform is 0 ° at this time, stage body frame corners are 270 ° and outer framework angle is
180°；
The third upturned position state: Z accelerometer is upward, and X accelerometer and Y accelerometer keep horizontal,
The inner frame angle of corresponding Inertial Platform is 0 ° at this time, stage body frame corners are 270 ° and outer framework angle is
270°；
5th kind of upturned position state: X accelerometer is downward, and X accelerometer and Z accelerometer keep horizontal, corresponding at this time
The inner frame angle of Inertial Platform is 0 °, stage body frame corners are 180 ° and outer framework angle is 270 °；
6th kind of upturned position state: Z accelerometer is downward, and X accelerometer and Z accelerometer keep horizontal, corresponding at this time
The inner frame angle of Inertial Platform is 0 °, stage body frame corners are 90 ° and outer framework angle is 270 °；
6th state: X accelerometer is upward, and X accelerometer and Z accelerometer keep horizontal, at this time corresponding inertial platform platform
The inner frame angle of body is 0 °, stage body frame corners are 0 ° and outer framework angle is 270 °；
[2] position arrangement scheme data acquisition is demarcated using accelerometer, is calculated and is accelerated by accelerometer error model
Degree meter zero-bit, accelerometer constant multiplier and accelerometer installation error；
Wherein, the accelerometer zero calculation formula of X accelerometer are as follows:
The accelerometer constant multiplier calculation formula of X accelerometer are as follows:
The accelerometer installation error calculation formula of X accelerometer are as follows:
Wherein, the accelerometer zero calculation formula of Y accelerometer are as follows:
The accelerometer constant multiplier calculation formula of Y accelerometer are as follows:
The accelerometer installation error calculation formula of Y accelerometer are as follows:
Wherein, the accelerometer zero calculation formula of Z accelerometer are as follows:
The accelerometer constant multiplier calculation formula of Z accelerometer are as follows:
The accelerometer installation error calculation formula of Z accelerometer are as follows:
In formula:
Nax(i) the apparent acceleration pulse increment exported in i-th of upturned position state down-sampling period Δ T for X accelerometer,
Unit: ^；
Nay(i) the apparent acceleration pulse increment exported in i-th of upturned position state down-sampling period Δ T for Y accelerometer,
Unit: ^；
Naz(i) the apparent acceleration pulse increment exported in i-th of upturned position state down-sampling period Δ T for Z accelerometer,
Unit: ^；
K0x、K0y、K0zThe respectively zero-bit of X accelerometer, Y accelerometer and Z accelerometer, unit: ^/s；
K1x、K1y、K1z--- it is respectively the constant multiplier of X accelerometer, Y accelerometer and Z accelerometer, unit: ^/(g
s)；
Kzx、KyxRespectively X accelerometer is relative to Y, the installation error of Z axis, unit: ^/(gs)；Kzy、KxyRespectively Y accelerates
Degree meter is relative to X, the installation error of Z axis, unit: ^/(gs)；Kyz、KxzRespectively Z accelerometer is relative to X, the peace of Y-axis
Fill error, unit: ^/(gs)；
[3] accelerometer output is compensated using the accelerometer installation error of calculating；
[4] accelerometer installation error compensation effect is verified；
[4.1] decision threshold M is set, M is constant；
[4.2] verification process of installation error are as follows:
A: installation error KxyVerification process are as follows: by Y-axis accelerometer adjustment in the horizontal direction, Z axis accelerometer is distinguished
Upwards and level is placed, when the Y accelerometer output under two states is consistent, is exported according to the Y accelerometer under two states
The absolute value of the difference S of value is compared with decision threshold M, if S≤M, can determine that installation error KxyAccurately；Otherwise installation error Kxy
It needs further to demarcate；
B: installation error KxzVerification process are as follows: by Z axis accelerometer adjustment in the horizontal direction, Y-axis accelerometer is distinguished
Upwards and level is placed, when the Z accelerometer output under two states is consistent, is exported according to the Z accelerometer under two states
The absolute value of the difference S of value is compared with decision threshold M, if S≤M, can determine that installation error KxzAccurately；Otherwise installation error Kxz
It needs further to demarcate；
C: installation error KyxVerification process are as follows: by X-axis accelerometer adjustment in the horizontal direction, Z axis accelerometer is distinguished
Upwards and level is placed, when the X accelerometer output under two states is consistent, is exported according to the X accelerometer under two states
The absolute value of the difference S of value is compared with decision threshold M, if S≤M, can determine that installation error KyxAccurately；Otherwise installation error Kyx
It needs further to demarcate；
D: installation error KyzVerification process are as follows: by Z axis accelerometer adjustment in the horizontal direction, X-axis accelerometer is distinguished
Upwards and level is placed, when the Z accelerometer output under two states is consistent, is exported according to the Z accelerometer under two states
The absolute value of the difference S of value is compared with decision threshold M, if S≤M, can determine that installation error KyzAccurately；Otherwise installation error Kyz
It needs further to demarcate；
E: installation error KzxVerification process are as follows: by X-axis accelerometer adjustment in the horizontal direction, Y-axis accelerometer is distinguished
Upwards and level is placed, when the X accelerometer output under two states is consistent, is exported according to the X accelerometer under two states
The absolute value of the difference S of value is compared with decision threshold M, if S≤M, can determine that installation error KzxAccurately；Otherwise installation error Kzx
It needs further to demarcate；
F；Installation error KzyVerification process are as follows: by Y-axis accelerometer adjustment in the horizontal direction, X-axis accelerometer is distinguished
Upwards and level is placed, when the Y accelerometer output under two states is consistent, is exported according to the Y accelerometer under two states
The absolute value of the difference S of value is compared with decision threshold M, if S≤M, can determine that installation error KzyAccurately；Otherwise installation error Kzy
It needs further to demarcate；
[5] if each installation error meets accelerometer index request, the fix error angle obtained is effective, and calibration terminates；Otherwise
Repeat step [2]-[4].
2. Inertial Platform System accelerometer installation error method for precisely marking according to claim 1, it is characterised in that:
Accelerometer error model described in step [2] is；
In formula:
ax、ay、az--- it is respectively X, Y and Z axis axial view acceleration, unit: g.
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