CN109631941B - Method for accurately calibrating installation error of accelerometer of inertial platform system - Google Patents
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Abstract
The invention relates to an accurate calibration method for an installation error of an accelerometer of an inertial platform system, which can calibrate the installation error of the accelerometer of the inertial platform system accurately under the condition of no accurate horizontal reference and vertical reference. The method mainly comprises the following steps: 【1】 The three accelerometers are orthogonally arranged on the inertial platform body in pairs, and an accelerometer calibration position arrangement scheme is designed; 【2】 Completing data acquisition by utilizing an accelerometer calibration position arrangement scheme, and calculating an accelerometer zero position, an accelerometer scale factor and an accelerometer installation error through an accelerometer error model; 【3】 Compensating the accelerometer output by using the calculated accelerometer installation error; 【4】 And verifying the installation error compensation effect of the accelerometer.
Description
Technical Field
The invention relates to an accurate calibration method for an installation error of an accelerometer of an inertial platform system.
Background
The inertial navigation technology mainly determines motion parameters of a carrier by sensing acceleration and attitude information of the carrier, and realizes functions of navigation, guidance, positioning, orientation, control and the like of the carrier. Compared with other navigation technologies, the inertial navigation system taking the inertial technology as the core is the only system which can continuously and autonomously provide all required navigation information in real time, has the characteristics of all weather, incapability of being interfered, concealment, no time, region and environment limitation and the like, is the core information source and the reference information source of the motion parameters of the carrier, and is the core support technology of the national defense technology.
The inertial navigation system is divided into a platform type inertial navigation system and a strapdown type inertial navigation system, and an accelerometer is one of two core inertial measurement sensors of the inertial navigation system and is used for sensing line motion information of a carrier. In the inertial platform system, an accelerometer is installed on a platform body, and if the accelerometer is installed to have deviation relative to the platform body, the acceleration measurement information of the platform body is inaccurate, and the navigation performance of the inertial platform system is affected. The installation error compensation of the accelerometer of the inertial platform system can effectively improve the measurement accuracy of the acceleration of the system, the compensation accuracy of the installation error of the frame, the alignment accuracy and the navigation accuracy.
In the application of the traditional missile weapons, the requirements on the rapidity of self-calibration and self-alignment before shooting of an inertial platform are high, only zero-order terms and one-order terms of an accelerometer can be marked in a limited time period, and the installation error of the accelerometer cannot be acquired.
However, as the precision requirement of the missile weapon system on the inertial navigation system becomes higher and higher, the installation error of the accelerometer cannot be guaranteed to meet the high-precision application requirement only by the equipment process. Therefore, the installation error of the accelerometer needs to be calibrated, the error compensation model of the accelerometer is perfected, and the measurement accuracy of the accelerometer is improved. The space stable inertial platform system cannot provide accurate horizontal reference and vertical reference, which brings certain difficulty to the calibration of the accelerometer parameters.
In order to calibrate the installation error of the accelerometer, the following methods are proposed in the prior art:
(1) the method adopts a high-precision rotary table to carry out multi-position rolling calibration, relies on high-precision testing equipment (a three-axis rotary table), provides horizontal and vertical references, and cannot be implemented without the high-precision three-axis rotary table;
(2) the method takes local gravity vector and earth rotation angular velocity information as references, controls the platform body to continuously roll in a 1g gravity field through a frame system, and simultaneously finishes the calibration and alignment of the platform, and can effectively separate the installation error of the inertial device. The method has more parameters calibrated at one time, different system models can be constructed according to requirements, the observability of the installation error of the accelerometer is different due to the inconsistency of the models, the selection of the models is improper, even the installation error of the accelerometer can not be observed, and the installation error of the accelerometer cannot be identified;
(3) the platform multi-position self-calibration scheme is characterized in that error parameters of a gyroscope and an accelerometer are simultaneously calibrated, a platform frame is used for multi-position overturning, after each position is in place, the frame is released, the relative inertial space of a platform body of the platform is stable, the output of the accelerometer is changed relative to the geographic system, if parameter identification is carried out by adopting the analysis relation between the output of the accelerometer and the gravity acceleration, the calibration precision of the accelerometer is influenced, and if a system-level parameter identification method is adopted, the calculation process is complex.
(4) The process guarantees that in the previous platform application, the installation error of the accelerometer is guaranteed by the installation process, the installation error of the accelerometer is defaulted to be a small amount, and the installation error of the accelerometer is not considered when the platform is calibrated and self-aligned. This method complicates the accelerometer mounting process.
Disclosure of Invention
In order to overcome the problems in the background art, the invention provides a method for accurately calibrating the installation error of an accelerometer of an inertial platform system under the condition of no accurate horizontal reference and vertical reference.
The specific technical scheme of the invention is as follows:
the invention provides an accurate calibration method for installation errors of an accelerometer of an inertial platform system, which comprises the following steps:
step 1: the three accelerometers are orthogonally arranged on the inertial platform body in pairs, and an accelerometer calibration position arrangement scheme is designed;
the accelerometer calibration position arrangement scheme comprises six overturning position states of three accelerometers, which are respectively as follows:
first flip position state: the Y accelerometer is upward, the X accelerometer and the Z accelerometer are kept horizontal, and at the moment, the inner frame angle, the platform body frame angle and the outer frame angle of the corresponding inertial platform body are all 0 degree;
second flip position state: the Y accelerometer faces downwards, the X accelerometer and the Z accelerometer are kept horizontal, and at the moment, the angle of an inner frame of the corresponding inertial platform body is 0 degree, the angle of a platform body frame is 270 degrees, and the angle of an outer frame is 180 degrees;
third flipped position state: the Z accelerometer is upward, the X accelerometer and the Y accelerometer are kept horizontal, and at the moment, the angle of an inner frame of the corresponding inertial platform body is 0 degree, the angle of a platform body frame is 270 degrees, and the angle of an outer frame is 270 degrees;
fourth flipped position state: the X accelerometer faces downwards, the X accelerometer and the Z accelerometer are kept horizontal, and at the moment, the angle of an inner frame of the corresponding inertial platform body is 0 degree, the angle of a platform body frame is 180 degrees, and the angle of an outer frame is 270 degrees;
fifth flip position state: the Z accelerometer faces downwards, the X accelerometer and the Z accelerometer are kept horizontal, and at the moment, the angle of an inner frame of the corresponding inertial platform body is 0 degree, the angle of a platform body frame is 90 degrees, and the angle of an outer frame is 270 degrees;
sixth flip position state: the X accelerometer is upward, the X accelerometer and the Z accelerometer are kept horizontal, and at the moment, the angle of an inner frame of the corresponding inertial platform body is 0 degree, the angle of a platform body frame is 0 degree, and the angle of an outer frame is 270 degrees;
step 2: completing data acquisition by utilizing an accelerometer calibration position arrangement scheme, and calculating an accelerometer zero position, an accelerometer scale factor and an accelerometer installation error through an accelerometer error model;
the accelerometer zero position calculation formula of the X accelerometer is as follows:
the accelerometer scale factor calculation formula of the X accelerometer is as follows:
the accelerometer installation error calculation formula of the X accelerometer is as follows:
the accelerometer zero position calculation formula of the Y accelerometer is as follows:
the accelerometer scale factor calculation formula of the Y accelerometer is as follows:
the accelerometer installation error calculation formula of the Y accelerometer is as follows:
the accelerometer zero position calculation formula of the Z accelerometer is as follows:
the accelerometer scale factor calculation formula of the Z accelerometer is as follows:
the accelerometer installation error calculation formula of the Z accelerometer is as follows:
in the formula:
Nax(i) for the apparent acceleration pulse increment output by the X accelerometer in the sampling period delta T of the ith turnover position state, the unit is as follows: a; i.e. i
Nay(i) The apparent acceleration pulse increment output by the Y accelerometer in the sampling period delta T in the ith turnover position state is represented by the following unit: a;
Naz(i) the apparent acceleration pulse increment output by the Z accelerometer in the sampling period delta T in the ith turnover position state is represented by the following unit: a;
K0x、K0y、K0zzero positions of the X accelerometer, the Y accelerometer, and the Z accelerometer, respectively, in units: a/s;
K1x、K1y、K1zscale factors, units, for the X, Y and Z accelerometers, respectively: ^/(g.s);
Kzx、Kyxrespectively, the mounting error of the X-accelerometer with respect to the axis Y, Z, in units: ^/(g.s);
Kzy、Kxymounting error of the Y accelerometer with respect to the X, Z axis, respectively, in units: ^/(g.s);
Kyz、Kxzrespectively, the mounting error of the Z accelerometer with respect to the axis X, Y, in units: ^/(g.s);
and step 3: compensating the accelerometer output by using the calculated accelerometer installation error;
and 4, step 4: verifying the installation error compensation effect of the accelerometer;
step 4.1: setting a judgment threshold value M, wherein M is a constant;
step 4.2: the verification process of the installation error comprises the following steps:
a: mounting error KxyThe verification process comprises the following steps: adjusting a Y-axis accelerometer in a horizontal direction, respectively placing a Z-axis accelerometer upwards and horizontally, comparing an absolute value S of a difference of output values of the Y-axis accelerometer in two states with a judgment threshold value M when the outputs of the Y-axis accelerometer in the two states are consistent, and judging an installation error K if S is less than or equal to MxyThe accuracy is high; otherwise, the installation error KxyFurther calibration is required;
b: mounting error KxzThe verification process comprises the following steps: adjusting a Z-axis accelerometer in a horizontal direction, respectively placing a Y-axis accelerometer upwards and horizontally, comparing an absolute value S of a difference of output values of the Z-axis accelerometer in two states with a judgment threshold value M when the outputs of the Z-axis accelerometer in the two states are consistent, and judging an installation error K if S is less than or equal to MxzThe accuracy is high; otherwise, the installation error KxzFurther calibration is required;
c installation error KyxThe verification process comprises the following steps: adjusting an X-axis accelerometer in a horizontal direction, respectively placing a Z-axis accelerometer upwards and horizontally, comparing an absolute value S of a difference of output values of the X-axis accelerometer in two states with a judgment threshold value M when the outputs of the X-axis accelerometer in the two states are consistent, and judging an installation error K if S is less than or equal to MyxThe accuracy is high; otherwise, the installation error KyxFurther calibration is required;
d: mounting error KyzThe verification process comprises the following steps: adjusting a Z-axis accelerometer in a horizontal direction, respectively placing an X-axis accelerometer upwards and horizontally, comparing an absolute value S of a difference of output values of the Z-axis accelerometer in two states with a judgment threshold value M when the outputs of the Z-axis accelerometer in the two states are consistent, and judging an installation error K if S is less than or equal to MyzThe accuracy is high; otherwise, the installation error KyzFurther calibration is required;
e: mounting error KzxThe verification process comprises the following steps: adjusting the X-axis accelerometer in the horizontal direction and adjusting the Y-axis accelerometer in the horizontal directionRespectively upwards and horizontally placing, when the outputs of the X accelerometers in the two states are consistent, comparing an absolute value S of the difference of the output values of the X accelerometers in the two states with a judgment threshold value M, and if S is less than or equal to M, judging that the installation error K is equal tozxThe accuracy is high; otherwise, the installation error KzxFurther calibration is required;
f; mounting error KzyThe verification process comprises the following steps: adjusting a Y-axis accelerometer in a horizontal direction, respectively placing the X-axis accelerometer upwards and horizontally, comparing an absolute value S of a difference of output values of the Y-axis accelerometer in two states with a judgment threshold value M when the outputs of the Y-axis accelerometer in the two states are consistent, and judging a mounting error K if S is less than or equal to MzyThe accuracy is high; otherwise, the installation error KzyFurther calibration is required;
and 5: if each installation error meets the accelerometer index requirement, the obtained installation error angle is valid, and the calibration is finished; otherwise, repeating the steps 2-4.
Further, the accelerometer error model in the step 2 is;
in the formula:
ax、ay、azx, Y and Z-axis axial apparent acceleration, respectively, in units: g.
the invention has the advantages that:
the invention adopts the multi-position iterative calibration method of the installation error of the accelerometer, realizes the accurate calibration of the installation error of the accelerometer of the space-stable inertial platform system under the condition of no accurate horizontal reference and vertical reference, and improves the error compensation accuracy of the accelerometer of the platform system.
Drawings
FIG. 1 is a block flow diagram of the present invention.
Detailed Description
The method of the present invention is further described below with reference to the accompanying drawings:
the specific flow of the method is shown in fig. 1:
1. the three accelerometers are orthogonally arranged on the inertial platform body in pairs, and an accelerometer calibration position arrangement scheme is designed;
the accelerometer parameter calibration adopts a six-position arrangement scheme, and the specific arrangement is shown in table 1. Before six-position calibration is carried out, the acceleration measurement channel needs to complete early-stage error compensation such as analog-to-digital conversion scale factor asymmetry, scale factor nonlinearity, temperature compensation and the like, and the accuracy of subsequent accelerometer installation error calibration is ensured.
TABLE 1 accelerometer parameters calibration position arrangement
In the table, serial numbers 1-6 respectively represent six turnover position states of three accelerometers, and the specific meanings are as follows:
first flip position state: the Y accelerometer is upward, the X accelerometer and the Z accelerometer are kept horizontal, and at the moment, the inner frame angle, the platform body frame angle and the outer frame angle of the corresponding inertial platform body are all 0 degree;
second flip position state: the Y accelerometer faces downwards, the X accelerometer and the Z accelerometer are kept horizontal, and at the moment, the angle of an inner frame of the corresponding inertial platform body is 0 degree, the angle of a platform body frame is 270 degrees, and the angle of an outer frame is 180 degrees;
third flipped position state: the Z accelerometer is upward, the X accelerometer and the Y accelerometer are kept horizontal, and at the moment, the angle of an inner frame of the corresponding inertial platform body is 0 degree, the angle of a platform body frame is 270 degrees, and the angle of an outer frame is 270 degrees;
fourth flipped position state: the X accelerometer faces downwards, the Y accelerometer and the Z accelerometer are kept horizontal, and at the moment, the angle of an inner frame of the corresponding inertial platform body is 0 degree, the angle of a platform body frame is 180 degrees, and the angle of an outer frame is 270 degrees;
fifth flip position state: the Z accelerometer faces downwards, the X accelerometer and the Z accelerometer are kept horizontal, and at the moment, the angle of an inner frame of the corresponding inertial platform body is 0 degree, the angle of a platform body frame is 90 degrees, and the angle of an outer frame is 270 degrees;
sixth flip position state: the X accelerometer is upward, the X accelerometer and the Z accelerometer are kept horizontal, and at the moment, the angle of an inner frame of the corresponding inertial platform body is 0 degree, the angle of a platform body frame is 0 degree, and the angle of an outer frame is 270 degrees;
2. completing data acquisition by utilizing an accelerometer calibration position arrangement scheme, and calculating an accelerometer zero position, an accelerometer scale factor and an accelerometer installation error through an accelerometer error model;
considering parameters such as accelerometer zero, scale factor, installation error, etc., the accelerometer error model can be expressed as:
in the formula:
Nax、Nay、Nazthe apparent acceleration pulse increment output by X, Y and the Z accelerometer, respectively, over a sampling period Δ T, in units of: a;
ax、ay、azx, Y and Z-axis axial apparent acceleration, respectively, in units: g;
K0x、K0y、K0zzero positions of the X accelerometer, the Y accelerometer, and the Z accelerometer, respectively, in units: a/s;
K1x、K1y、K1zscale factors, units, for the X, Y and Z accelerometers, respectively: ^/(g.s);
Kzx、Kyxrespectively, the mounting error of the X-accelerometer with respect to the axis Y, Z, in units: ^/(g.s);
Kzy、Kxymounting error of the Y accelerometer with respect to the X, Z axis, respectively, in units: ^/(g.s);
Kyz、Kxzrespectively, the mounting error of the Z accelerometer with respect to the axis X, Y, in units: ^/(g.s);
from the programming scheme of step 1 and the accelerometer error model of step 2, we can obtain:
the accelerometer zero position calculation formula of the X accelerometer is as follows:
the accelerometer scale factor calculation formula of the X accelerometer is as follows:
the accelerometer installation error calculation formula of the X accelerometer is as follows:
the accelerometer zero position calculation formula of the Y accelerometer is as follows:
the accelerometer scale factor calculation formula of the Y accelerometer is as follows:
the accelerometer installation error calculation formula of the Y accelerometer is as follows:
the accelerometer zero position calculation formula of the Z accelerometer is as follows:
the accelerometer scale factor calculation formula of the Z accelerometer is as follows:
the accelerometer installation error calculation formula of the Z accelerometer is as follows:
in the formula:
Nax(i) for the apparent acceleration pulse increment output by the X accelerometer in the sampling period delta T of the ith turnover position state, the unit is as follows: a;
Nay(i) the apparent acceleration pulse increment output by the Y accelerometer in the sampling period delta T in the ith turnover position state is represented by the following unit: a;
Naz(i) the apparent acceleration pulse increment output by the Z accelerometer in the sampling period delta T in the ith turnover position state is represented by the following unit: a;
3. compensating the accelerometer output by using the calculated accelerometer installation error;
4. verifying the installation error compensation effect of the accelerometer;
4.1, setting a judgment threshold value M, wherein M is a constant;
4.2, the verification process of the installation error comprises the following steps:
a: mounting error KxyThe verification process comprises the following steps: adjusting a Y-axis accelerometer in a horizontal direction, respectively placing a Z-axis accelerometer upwards and horizontally, comparing an absolute value S of a difference of output values of the Y-axis accelerometer in two states with a judgment threshold M when the outputs of the Y-axis accelerometer in the two states are consistent, and judging a mounting error K if S is less than or equal to MxyThe accuracy is high; otherwise, the installation error KxyFurther calibration is required;
b: mounting error KxzThe verification process comprises the following steps: adjusting a Z-axis accelerometer in a horizontal direction, respectively placing a Y-axis accelerometer upwards and horizontally, comparing an absolute value S of a difference of output values of the Z-axis accelerometer in two states with a judgment threshold value M when the outputs of the Z-axis accelerometer in the two states are consistent, and judging a mounting error K if S is less than or equal to MxzThe accuracy is high; otherwise, the installation error KxzFurther calibration is required;
c installation error KyxThe verification process comprises the following steps: adjusting an X-axis accelerometer in a horizontal direction, respectively placing a Z-axis accelerometer upwards and horizontally, comparing an absolute value S of a difference of output values of the X-axis accelerometer in two states with a judgment threshold value M when the outputs of the X-axis accelerometer in the two states are consistent, and judging a mounting error K if S is less than or equal to MyxThe accuracy is high; otherwise, the installation error KyxFurther calibration is required;
d: mounting error KyzThe verification process comprises the following steps: adjusting a Z-axis accelerometer in a horizontal direction, respectively placing an X-axis accelerometer upwards and horizontally, comparing an absolute value S of a difference of output values of the Z-axis accelerometer in two states with a judgment threshold value M when the outputs of the Z-axis accelerometer in the two states are consistent, and judging a mounting error K if S is less than or equal to MyzThe accuracy is high; otherwise, the installation error KyzFurther calibration is required;
e: mounting error KzxThe verification process comprises the following steps: adjusting the X-axis accelerometer in the horizontal direction, respectively placing the Y-axis accelerometer upwards and horizontally, and when the outputs of the X-axis accelerometer in the two states are consistent, according to the difference of the output values of the X-axis accelerometer in the two statesThe absolute value S is compared with a judgment threshold value M, if S is less than or equal to M, the installation error K can be judgedzxThe accuracy is high; otherwise, the installation error KzxFurther calibration is required;
f; mounting error KzyThe verification process comprises the following steps: adjusting a Y-axis accelerometer in a horizontal direction, respectively placing the X-axis accelerometer upwards and horizontally, comparing an absolute value S of a difference of output values of the Y-axis accelerometer in two states with a judgment threshold value M when the outputs of the Y-axis accelerometer in the two states are consistent, and judging a mounting error K if S is less than or equal to MzyThe accuracy is high; otherwise, the installation error KzyFurther calibration is required;
5. if each installation error meets the accelerometer index requirement, the obtained installation error angle is valid, and the calibration is finished; otherwise, repeating the steps 2-4.
Under general conditions, iteration calibration is carried out for 2-3 times, and the calibration result of the installation error of the accelerometer can meet the requirement.
Claims (2)
1. An accurate calibration method for installation errors of an accelerometer of an inertial platform system is characterized by comprising the following steps:
step 1: the three accelerometers are orthogonally arranged on the inertial platform body in pairs, and an accelerometer calibration position arrangement scheme is designed;
the accelerometer calibration position arrangement scheme comprises six overturning position states of three accelerometers, which are respectively as follows:
first flip position state: the Y accelerometer is upward, the X accelerometer and the Z accelerometer are kept horizontal, and at the moment, the inner frame angle, the platform body frame angle and the outer frame angle of the corresponding inertial platform body are all 0 degree;
second flip position state: the Y accelerometer faces downwards, the X accelerometer and the Z accelerometer are kept horizontal, and at the moment, the angle of an inner frame of the corresponding inertial platform body is 0 degree, the angle of a platform body frame is 270 degrees, and the angle of an outer frame is 180 degrees;
third flipped position state: the Z accelerometer is upward, the X accelerometer and the Y accelerometer are kept horizontal, and at the moment, the angle of an inner frame of the corresponding inertial platform body is 0 degree, the angle of a platform body frame is 270 degrees, and the angle of an outer frame is 270 degrees;
fourth flipped position state: the X accelerometer faces downwards, the X accelerometer and the Z accelerometer are kept horizontal, and at the moment, the angle of an inner frame of the corresponding inertial platform body is 0 degree, the angle of a platform body frame is 180 degrees, and the angle of an outer frame is 270 degrees;
fifth flip position state: the Z accelerometer faces downwards, the X accelerometer and the Z accelerometer are kept horizontal, and at the moment, the angle of an inner frame of the corresponding inertial platform body is 0 degree, the angle of a platform body frame is 90 degrees, and the angle of an outer frame is 270 degrees;
sixth flip position state: the X accelerometer is upward, the X accelerometer and the Z accelerometer are kept horizontal, and at the moment, the angle of an inner frame of the corresponding inertial platform body is 0 degree, the angle of a platform body frame is 0 degree, and the angle of an outer frame is 270 degrees;
step 2: completing data acquisition by utilizing an accelerometer calibration position arrangement scheme, and calculating an accelerometer zero position, an accelerometer scale factor and an accelerometer installation error through an accelerometer error model; the accelerometer error model is;
in the formula:
ax、ay、azx, Y and Z-axis axial apparent acceleration, respectively, in units: g;
the accelerometer zero position calculation formula of the X accelerometer is as follows:
the accelerometer scale factor calculation formula of the X accelerometer is as follows:
the accelerometer installation error calculation formula of the X accelerometer is as follows:
the accelerometer zero position calculation formula of the Y accelerometer is as follows:
the accelerometer scale factor calculation formula of the Y accelerometer is as follows:
the accelerometer installation error calculation formula of the Y accelerometer is as follows:
the accelerometer zero position calculation formula of the Z accelerometer is as follows:
the accelerometer scale factor calculation formula of the Z accelerometer is as follows:
the accelerometer installation error calculation formula of the Z accelerometer is as follows:
in the formula:
Nax(i) for the apparent acceleration pulse increment output by the X accelerometer in the sampling period delta T of the ith turnover position state, the unit is as follows: a;
Nay(i) the apparent acceleration pulse increment output by the Y accelerometer in the sampling period delta T in the ith turnover position state is represented by the following unit: a;
Naz(i) the apparent acceleration pulse increment output by the Z accelerometer in the sampling period delta T in the ith turnover position state is represented by the following unit: a;
K0x、K0y、K0zzero positions of the X accelerometer, the Y accelerometer, and the Z accelerometer, respectively, in units: a/s;
K1x、K1y、K1zscale factors, units, for the X, Y and Z accelerometers, respectively: ^/(g.s);
Kzx、Kyxrespectively, the mounting error of the X-accelerometer with respect to the axis Y, Z, in units: ^/(g.s);
Kzy、Kxymounting error of the Y accelerometer with respect to the X, Z axis, respectively, in units: ^/(g.s);
Kyz、Kxzrespectively, the mounting error of the Z accelerometer with respect to the axis X, Y, in units: ^/(g.s);
and step 3: compensating the accelerometer output by using the calculated accelerometer installation error;
and 4, step 4: verifying the installation error compensation effect of the accelerometer;
step 4.1: setting a judgment threshold value M, wherein M is a constant;
step 4.2: the verification process of the installation error comprises the following steps:
a: mounting error KxyThe verification process comprises the following steps: adjusting a Y-axis accelerometer in a horizontal direction, respectively placing a Z-axis accelerometer upwards and horizontally, comparing an absolute value S of a difference of output values of the Y-axis accelerometer in two states with a judgment threshold value M when the outputs of the Y-axis accelerometer in the two states are consistent, and judging an installation error K if S is less than or equal to MxyThe accuracy is high; otherwise, the installation error KxyFurther calibration is required;
b: mounting error KxzThe verification process comprises the following steps: adjusting a Z-axis accelerometer in a horizontal direction, respectively placing a Y-axis accelerometer upwards and horizontally, comparing an absolute value S of a difference of output values of the Z-axis accelerometer in two states with a judgment threshold value M when the outputs of the Z-axis accelerometer in the two states are consistent, and judging an installation error K if S is less than or equal to MxzThe accuracy is high; otherwise, the installation error KxzFurther calibration is required;
c installation error KyxThe verification process comprises the following steps: adjusting an X-axis accelerometer in a horizontal direction, respectively placing a Z-axis accelerometer upwards and horizontally, comparing an absolute value S of a difference of output values of the X-axis accelerometer in two states with a judgment threshold value M when the outputs of the X-axis accelerometer in the two states are consistent, and judging an installation error K if S is less than or equal to MyxThe accuracy is high; otherwise, the installation error KyxFurther calibration is required;
d: mounting error KyzThe verification process comprises the following steps: adjusting a Z-axis accelerometer in a horizontal direction, respectively placing an X-axis accelerometer upwards and horizontally, comparing an absolute value S of a difference of output values of the Z-axis accelerometer in two states with a judgment threshold value M when the outputs of the Z-axis accelerometer in the two states are consistent, and judging an installation error K if S is less than or equal to MyzThe accuracy is high; otherwise, the installation error KyzFurther calibration is required;
e: mounting error KzxThe verification process comprises the following steps: adjusting an X-axis accelerometer in a horizontal direction, respectively placing the Y-axis accelerometer upwards and horizontally, comparing an absolute value S of a difference of output values of the X-axis accelerometer in two states with a judgment threshold value M when the outputs of the X-axis accelerometer in the two states are consistent, and judging an installation error K if S is less than or equal to MzxThe accuracy is high; otherwise, the installation error KzxFurther calibration is required;
f; mounting error KzyThe verification process comprises the following steps: adjusting a Y-axis accelerometer in a horizontal direction, respectively placing the X-axis accelerometer upwards and horizontally, comparing an absolute value S of a difference of output values of the Y-axis accelerometer in two states with a judgment threshold value M when the outputs of the Y-axis accelerometer in the two states are consistent, and judging an installation error K if S is less than or equal to MzyThe accuracy is high; otherwise, the installation error KzyFurther calibration is required;
and 5: if each installation error meets the accelerometer index requirement, the obtained installation error angle is valid, and the calibration is finished; otherwise, repeating the steps 2-4.
2. The method for accurately calibrating the installation error of the accelerometer of the inertial platform system according to claim 1, wherein the method comprises the following steps: in the step 2, the error model of the accelerometer is as follows;
in the formula:
ax、ay、azx, Y and Z-axis axial apparent acceleration, respectively, in units: g.
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| CN110132309B (en) * | 2019-06-05 | 2023-04-25 | 西京学院 | Calibration method of rocker arm inertia/vision combined attitude determination device of coal mining machine |
| CN111693069B (en) * | 2020-06-23 | 2022-09-16 | 中国船舶重工集团公司第七0七研究所 | Wharf dynamic accelerometer zero position checking method and system for inertial navigation system |
| CN112344927B (en) * | 2020-10-19 | 2023-08-15 | 北京自动化控制设备研究所 | A Compensation Method for Installation Error of Miniaturized MEMS Inertial Measurement System |
| CN112414432B (en) * | 2020-11-26 | 2021-11-09 | 蓝箭航天空间科技股份有限公司 | Method for calibrating installation errors of inertial measurement unit and rotary table for spacecraft and server |
| CN112697171B (en) * | 2020-12-16 | 2023-03-28 | 湖南航天机电设备与特种材料研究所 | Leveling angle testing method and system |
| CN114063469A (en) * | 2021-10-29 | 2022-02-18 | 北京星途探索科技有限公司 | A hardware-in-the-loop simulation verification technology with turntable based on solving differential equations |
| CN114061576A (en) * | 2021-12-08 | 2022-02-18 | 北京理工大学 | A calibration and compensation method for multi-position MEMS accelerometer |
| CN114509580B (en) * | 2021-12-24 | 2024-09-20 | 北京航天时代光电科技有限公司 | High-precision temperature modeling method for small-range accelerometer |
| CN114485727A (en) * | 2022-01-04 | 2022-05-13 | 中国煤炭科工集团太原研究院有限公司 | Precision self-detection method and device for strapdown inertial navigation system |
| CN114593749A (en) * | 2022-02-23 | 2022-06-07 | 贵州航天控制技术有限公司 | Navigation measurement combination calibration compensation method and test bench |
| CN114924096A (en) * | 2022-04-14 | 2022-08-19 | 北京中弘泰科科技有限公司 | A MEMS Accelerometer Accuracy Automatic Calibration System |
| CN115200613B (en) * | 2022-09-14 | 2022-12-09 | 中国船舶重工集团公司第七0七研究所 | Method for testing accuracy of quadrangular frustum pyramid installation surface of inertial navigation system |
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