CN109631941B - Method for accurately calibrating installation error of accelerometer of inertial platform system - Google Patents
Method for accurately calibrating installation error of accelerometer of inertial platform system Download PDFInfo
- Publication number
- CN109631941B CN109631941B CN201811499741.3A CN201811499741A CN109631941B CN 109631941 B CN109631941 B CN 109631941B CN 201811499741 A CN201811499741 A CN 201811499741A CN 109631941 B CN109631941 B CN 109631941B
- Authority
- CN
- China
- Prior art keywords
- accelerometer
- installation error
- axis
- angle
- error
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Navigation (AREA)
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.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811499741.3A CN109631941B (en) | 2018-12-09 | 2018-12-09 | Method for accurately calibrating installation error of accelerometer of inertial platform system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811499741.3A CN109631941B (en) | 2018-12-09 | 2018-12-09 | Method for accurately calibrating installation error of accelerometer of inertial platform system |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109631941A CN109631941A (en) | 2019-04-16 |
CN109631941B true CN109631941B (en) | 2021-04-09 |
Family
ID=66072211
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201811499741.3A Active CN109631941B (en) | 2018-12-09 | 2018-12-09 | Method for accurately calibrating installation error of accelerometer of inertial platform system |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN109631941B (en) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 | Installation error compensation method for 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 | Semi-physical simulation verification technology with rotary table based on differential equation solving |
CN114061576A (en) * | 2021-12-08 | 2022-02-18 | 北京理工大学 | Multi-position MEMS accelerometer calibration compensation method |
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 |
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 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102914319A (en) * | 2012-09-29 | 2013-02-06 | 北京航空航天大学 | Rapid static testing method for prior information-based multi-fiber inertial measurement unit storage period |
CN105371868A (en) * | 2015-11-13 | 2016-03-02 | 北京航天控制仪器研究所 | Error calibration and compensation method for accelerometer unit of inertially stabilized platform system |
CN108458725A (en) * | 2017-11-17 | 2018-08-28 | 北京计算机技术及应用研究所 | Systematic calibration method on Strapdown Inertial Navigation System swaying base |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103149948B (en) * | 2013-02-04 | 2015-04-22 | 北京航空航天大学 | Two-freedom-degree heavy-load tracking stabilized platform system |
CN103697918B (en) * | 2013-12-26 | 2016-07-27 | 北京航天时代光电科技有限公司 | A kind of scaling method of the orthogonal tilting configuration inertial measurement unit of optical fiber gyroscope of axle of three axles |
CN103983276B (en) * | 2014-04-29 | 2017-01-04 | 北京航天控制仪器研究所 | A kind of three framework four axle inertial platform error calibrating methods based on navigation benchmark system |
CN104121928B (en) * | 2014-05-29 | 2016-09-28 | 湖北航天技术研究院总体设计所 | A kind of it be applicable to low precision and have the Inertial Measurement Unit scaling method of azimuth reference single shaft indexing apparatus |
US10101174B2 (en) * | 2016-08-22 | 2018-10-16 | Rosemount Aerospace Inc. | Air data aided inertial measurement unit |
CN107389093A (en) * | 2017-07-13 | 2017-11-24 | 中国人民解放军63820部队吸气式高超声速技术研究中心 | The initial Alignment Method of inertial platform under a kind of quiet pedestal |
-
2018
- 2018-12-09 CN CN201811499741.3A patent/CN109631941B/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102914319A (en) * | 2012-09-29 | 2013-02-06 | 北京航空航天大学 | Rapid static testing method for prior information-based multi-fiber inertial measurement unit storage period |
CN105371868A (en) * | 2015-11-13 | 2016-03-02 | 北京航天控制仪器研究所 | Error calibration and compensation method for accelerometer unit of inertially stabilized platform system |
CN108458725A (en) * | 2017-11-17 | 2018-08-28 | 北京计算机技术及应用研究所 | Systematic calibration method on Strapdown Inertial Navigation System swaying base |
Non-Patent Citations (1)
Title |
---|
一种加速度计的标定补偿方法研究;刘一鸣;《传感技术学报》;20161231;第1847-1852页 * |
Also Published As
Publication number | Publication date |
---|---|
CN109631941A (en) | 2019-04-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN109631941B (en) | Method for accurately calibrating installation error of accelerometer of inertial platform system | |
CN106969783B (en) | Single-axis rotation rapid calibration technology based on fiber-optic gyroscope inertial navigation | |
CN110160554B (en) | Single-axis rotation strapdown inertial navigation system calibration method based on optimization method | |
CN102221372B (en) | Method for calibrating error of inertia measurement unit by using centrifugal machine and turntable | |
CN107655493B (en) | SINS six-position system-level calibration method for fiber-optic gyroscope | |
CN106482746B (en) | Lever arm calibration and compensation method in a kind of accelerometer for hybrid inertial navigation system | |
CN108507568B (en) | Method and device for compensating temperature drift error and integrated navigation system | |
CN101246023A (en) | Closed-loop calibration method of micro-mechanical gyroscope inertial measuring component | |
CN104596543B (en) | Gyroscope combined error coefficient scaling method under a kind of benchmark uncertain condition | |
CN104764463B (en) | A kind of self-sensing method of inertial platform leveling collimating fault | |
CN108507592A (en) | A kind of dual-axis rotation inertial navigation system shaft non-orthogonal angles scaling method | |
CN111735474A (en) | Moving base compass alignment method based on data backtracking | |
CN110553642A (en) | Method for improving inertial guidance precision | |
CN113503894A (en) | Inertial navigation system error calibration method based on gyroscope reference coordinate system | |
CN110487300A (en) | Vibration absorber influences test method to the performance of inertial navigation system | |
CN109974750B (en) | Ring laser temperature modeling and compensating method based on fuzzy logic system | |
CN113790737B (en) | On-site rapid calibration method of array sensor | |
CN113418499B (en) | Method and system for resolving roll angle of rotary aircraft | |
CN110940357B (en) | Inner rod arm calibration method for self-alignment of rotary inertial navigation single shaft | |
CN115790659A (en) | Nine-position autonomous calibration method for high-precision inertial platform | |
Wang et al. | Compounded calibration based on FNN and attitude estimation method using intelligent filtering for low cost MEMS sensor application | |
CN114578857A (en) | Guidance aircraft autonomous control method, device and system based on full trajectory information | |
CN110220534B (en) | Online calibration method applied to on-missile inertial measurement unit | |
CN114858187A (en) | MEMS inertial navigation system calibration method | |
CN111089606B (en) | Rapid self-calibration method for key parameters of three-self laser inertial measurement unit |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |