CN111089606A - Rapid self-calibration method for key parameters of three-self laser inertial measurement unit - Google Patents

Rapid self-calibration method for key parameters of three-self laser inertial measurement unit Download PDF

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CN111089606A
CN111089606A CN201911327341.9A CN201911327341A CN111089606A CN 111089606 A CN111089606 A CN 111089606A CN 201911327341 A CN201911327341 A CN 201911327341A CN 111089606 A CN111089606 A CN 111089606A
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correction
inertial measurement
sampling time
measurement unit
error
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CN111089606B (en
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刘晓庆
王胜兰
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Hunan Aerospace Institute of Mechanical and Electrical Equipment and Special Materials
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract

The invention discloses a method for quickly self-calibrating key parameters of a three-self laser inertial measurement unit, which realizes error correction of inertial measurement unit parameters by calculating parameter residual errors of 6 positions at each sampling time, takes the inertial measurement unit parameters corrected at the current sampling time of the current position as the inertial measurement unit parameters at the next sampling time of the current position, superposes the error correction of each sampling time of each position, carries out next round of error correction if the error correction does not reach a residual error set value after one round of error correction, and takes the inertial measurement unit parameters corrected at the last sampling time of the last position of the current round as the inertial measurement unit parameters at the first sampling time of the first position of the next round, superposes the error correction of each round, accelerates the error correction of the inertial measurement unit parameters and improves the self-calibration speed of the inertial measurement unit parameters.

Description

Rapid self-calibration method for key parameters of three-self laser inertial measurement unit
Technical Field
The invention belongs to the technical field of inertial measurement unit parameter calibration, and particularly relates to a rapid self-calibration method for key parameters of a three-self laser inertial measurement unit.
Background
The inertial measurement unit consists of three accelerometers in orthogonal distribution and three gyroscopes in orthogonal distribution, and can carry out positioning, orientation and tracking navigation by measuring acceleration increment and angular velocity increment of three axial directions of a space coordinate system. The navigation function of the inertia measurement unit does not depend on external signals, and the inertia measurement unit is high in concealment and wide in application in the military field. However, since the outputs of the accelerometer and the gyroscope have error drift with time, an error model needs to be established according to time-varying parameters such as zero offset and scale factors for compensation.
The gyro scale factors of the three-self laser inertial measurement unit are inherent parameters related to the optical path length, the installation error of the angular velocity channel and the installation error of the acceleration channel of the laser inertial measurement unit depend on the structural deformation of the table body, and the numerical value change of the gyro scale factors can be ignored. Under the condition of long-term storage of a missile weapon system, errors of zero offset of a gyroscope, a scale factor of an accelerometer and zero offset parameters of the accelerometer drift along with time need to be calibrated and corrected again in a parameter retention period to ensure the hitting precision of the weapon system, although the on-missile inertial measurement unit is calibrated in a disassembly-free and self-calibration mode (the calibration needs 90min once) can be achieved at present, compared with the prior art, the calibration of high-precision calibration equipment in a position takes a great step forward, the use and maintenance after arming still has great workload, and the difference from the lifelong calibration-free maintenance is large.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method for quickly and automatically calibrating key parameters of a three-self laser inertial measurement unit, so that the quick and automatic calibration of the key parameters of the inertial measurement unit is realized, the system precision is improved, and the maintenance cost is reduced.
The invention solves the technical problems through the following technical scheme: a three-self laser inertial measurement unit key parameter rapid self-calibration method comprises the following steps:
step 1: enabling the inertial measurement units to be sequentially located at 6 positions, carrying out error correction on the inertial measurement unit key parameters at each sampling moment of each position through parameter residual errors, updating the inertial measurement unit output parameters at the next sampling moment of the position by using the inertial measurement unit key parameters corrected at the current sampling moment of the position, or updating the inertial measurement unit output parameters at the first sampling moment of the next position by using the inertial measurement unit key parameters corrected at the last sampling moment of the position until the error correction of the inertial measurement unit key parameters at the last sampling moment of the last position is finished; judging whether the residual error of the key parameter at the last sampling moment at the last position is smaller than a residual error set value, if so, completing the self-calibration of the key parameter, otherwise, turning to the step 2;
step 2: and (3) updating the inertial measurement unit output parameter at the first sampling moment at the first position by using the inertial measurement unit key parameter corrected at the last sampling moment at the last position, and circularly executing the step (1) until the residual error of the key parameter at the last sampling moment at the last position is less than the residual error set value.
The calibration method of the invention realizes the self-calibration of the key parameters of the inertial measurement unit by calculating the parameter residual error of each sampling moment at each position, carries out judgment once after each error correction is finished until the residual error set value is met, the method is characterized in that the self-calibration of the key parameters is completed, the calculation of the residual error of the key parameters is completed through a computer program, the error correction of the inertial set key parameters can be rapidly realized at each position, the corrected inertial set key parameters are used as the inertial set output parameters at the next sampling time or the next position, the inertial set key parameters corrected at the last position are used as the inertial set output parameters at the first sampling time of the first position during the next round of error correction, the error correction at each sampling time of each position and the error correction of each round are superposed, the error correction of the inertial set key parameters is accelerated, and the self-calibration speed of the inertial set key parameters is improved; the method can finish the calibration of the key parameters of the three-self laser inertial measurement unit drifting along with time within 10min, ensures the hitting precision of a missile weapon system, and greatly reduces the use and maintenance cost.
Further, in the step 1, performing error correction on the inertial measurement unit key parameter at each sampling time of each position includes the following steps:
step 1.1, constructing an initial attitude transformation matrix corresponding to the position during the mth round correction through the measured acceleration data;
step 1.2, resolving a speed error and a space direction rotation angle error according to the initial attitude transformation matrix navigation in the step 1.1 so as to update the speed and the space direction rotation angle of the inertial measurement unit;
step 1.3, calculating the components of the gyro error and the accelerometer error under the geographic coordinate system when the position is not corrected according to the speed error and the sky rotation angle error in the step 1.2;
step 1.4, calculating parameter residual errors of the inertial measurement units according to the amount in the step 1.3;
and step 1.5, carrying out error correction on the key parameters of the inertial measurement unit according to the parameter residual error in the step 1.4.
Further, in the step 1.1, the initial posture conversion matrix of the jth position at the mth round correction is used
Figure BDA0002328720250000021
To indicate that the user is not in a normal position,
Figure BDA0002328720250000022
is provided with
Figure BDA0002328720250000023
Then:
Figure BDA0002328720250000024
Figure BDA0002328720250000025
Figure BDA0002328720250000026
Figure BDA0002328720250000027
wherein j is 1,2,3,4,5, Δ DjmIs an angle transformation matrix when the m-th correction is transformed to the j-th position,
Figure BDA0002328720250000028
respectively obtaining x, y and z-direction acceleration values at the first sampling moment of the jth position in the mth round correction, wherein q is a middle calculation auxiliary parameter;
when j is 0, the matrix
Figure BDA0002328720250000029
The element (b) is obtained by the following formula:
Figure BDA00023287202500000210
Figure BDA0002328720250000031
Figure BDA0002328720250000032
Figure BDA0002328720250000033
wherein the content of the first and second substances,
Figure BDA0002328720250000034
and the initial attitude angle of the inertial set at the first position during the m-th wheel correction is obtained.
Further, in step 1.2, the calculation formula of the speed error is as follows:
Figure BDA0002328720250000035
wherein R represents the x, y or z direction,
Figure BDA0002328720250000036
the x, y or z-direction speed error of the kth sampling time at the jth position at the mth round correction,
Figure BDA0002328720250000037
is the x, y or z-direction speed error of the k-1 sampling time of the jth position at the mth round correction,
Figure BDA0002328720250000038
is the attitude transformation matrix of the kth sampling moment of the jth position at the mth round of correction,
Figure BDA0002328720250000039
is the posture transformation matrix of the k-1 sampling moment of the jth position at the mth round of correction,
Figure BDA00023287202500000310
the vector is output for the kth sampling time x, y or z of the jth position during the mth round correction, g is the local gravity acceleration, omega is the rotational angular velocity of the earth,
Figure BDA00023287202500000311
in order to be the local latitude,
Figure BDA00023287202500000312
respectively the x, y and z-direction speed errors at the k-1 th sampling time of the jth position in the mth round correction, delta tjmA sampling time of the jth position in the mth round correction, k is a sampling time, k is 1,2,3 …, and:
Figure BDA00023287202500000313
wherein, I is a unit diagonal matrix,
Figure BDA00023287202500000314
outputting angular velocities of the gyroscope in x, y and z directions at the kth sampling time of the jth position at the mth round correction;
the calculation formula of the errors of the rotation angles in the sky direction is as follows:
Figure BDA0002328720250000041
Figure BDA0002328720250000042
wherein the content of the first and second substances,
Figure BDA0002328720250000043
is the day-wise rotation angle error of the kth sampling moment of the jth position in the mth round correction,
Figure BDA0002328720250000044
for the posture of the kth sampling time of the jth position at the mth round correctionThe matrix error is transformed.
Further, in step 1.3, the calculation formula of the components of the gyro error and the accelerometer error in the geographic coordinate system when not corrected is as follows:
Figure BDA0002328720250000045
Figure BDA0002328720250000046
Figure BDA0002328720250000047
Figure BDA0002328720250000048
wherein the content of the first and second substances,
Figure BDA0002328720250000049
respectively representing the x-direction, y-direction and z-direction speed error components of the kth sampling time of the jth position at the mth round correction under the geographic coordinate system,
Figure BDA00023287202500000410
are all initial attitude transformation matrices
Figure BDA00023287202500000411
The elements (A) and (B) in (B),
Figure BDA00023287202500000412
respectively x-direction speed error, y-direction speed error and z-direction speed error of kth sampling time of jth position at mth round correction,
Figure BDA00023287202500000413
the acceleration values in the x direction, the y direction and the z direction of the kth sampling time of the jth position at the mth round correction are respectively,
Figure BDA0002328720250000051
is static at the j-th positionAt the end of the state, the time of the state,
Figure BDA0002328720250000052
is the static start time of the jth position, k is the sampling time, Δ tjmIs the sampling time of the jth position in the mth round correction, g is the local gravity acceleration, NjmIs the sampling number of the jth position in the mth round of correction, R represents the x, y or z direction,
Figure BDA0002328720250000053
is the k sampling time x, y or z angular speed error of the jth position at the mth round correction,
Figure BDA0002328720250000054
and the k sampling time x, y and z of the jth position during the mth round correction are respectively the output angular velocities of the gyroscope in the z direction.
Further, in step 1.4, the calculation formula of the parameter residual of the inertial set is as follows:
Figure BDA0002328720250000055
Figure BDA0002328720250000056
Figure BDA0002328720250000057
Figure BDA0002328720250000058
Figure BDA0002328720250000059
Figure BDA00023287202500000510
Figure BDA00023287202500000511
wherein the content of the first and second substances,
Figure BDA00023287202500000512
computing residual errors for the zero offset of the k sampling time x, y and z of the accelerometer at the jth position in the mth round of correction,
Figure BDA00023287202500000513
computing residual errors for the kth sampling time x, y and z accelerometer scaling factors of the jth position at the mth round correction,
Figure BDA00023287202500000514
r represents the x, y or z direction,
Figure BDA00023287202500000515
calculating residual error for the k-th sampling time x, y or z-direction gyro zero offset of the j-th position in the k-th round correction,
Figure BDA00023287202500000516
respectively are the x-direction speed error components of the kth sampling time x of the 1 st, 2 nd, 3 th, 4 th and 5 th positions in the mth round correction,
Figure BDA00023287202500000517
respectively are the z-direction speed error components of the kth sampling time at the 1 st, 2 nd and 4 th positions in the mth round correction,
Figure BDA00023287202500000518
the k-th sampling time x, y or z-direction angular speed errors of the 1 st, 2 nd, 3 th, 4 th, 5 th and 6 th positions in the m-th correction are respectively.
Further, in step 1.5, an error correction formula of the inertial measurement unit key parameter is as follows:
Figure BDA0002328720250000061
Figure BDA0002328720250000062
Figure BDA0002328720250000063
wherein R represents the x, y or z direction,
Figure BDA0002328720250000064
zero offset is carried out on the accelerometer in the kth sampling time x, y or z direction of the jth position after the mth round of correction,
Figure BDA0002328720250000065
the calibration factor of the x, y or z direction accelerometer at the kth sampling time of the jth position after the mth round of correction,
Figure BDA0002328720250000066
zero-offset for the k sampling time x, y or z of the jth position after the mth round of correction,
Figure BDA0002328720250000067
computing residual error for the zero offset of the k sampling time x, y or z direction accelerometer of the jth position at the mth round correction,
Figure BDA0002328720250000068
computing residual error for the kth sampling time x, y or z accelerometer scaling factor of the jth position at the mth round of correction,
Figure BDA0002328720250000069
and computing a residual error for the k-th sampling time x, y or z-direction gyro zero offset of the j-th position in the m-th round correction, wherein when k is 1, the k-1 time is the last sampling time of the last position in the previous round correction.
Further, in step 1 or 2, a specific formula for updating the inertial measurement unit output parameter is as follows:
Figure BDA00023287202500000610
Figure BDA00023287202500000611
wherein the content of the first and second substances,
Figure BDA00023287202500000612
respectively updated acceleration values in x, y and z directions, Kxy、Kyx、Kzx、Kzy、Kxz、KyzAre all the installation errors of the accelerometer,
Figure BDA00023287202500000613
respectively outputting vectors of the acceleration in the x direction, the y direction or the z direction at the kth sampling time of the jth position at the mth round correction,
Figure BDA00023287202500000614
respectively calibrating factors of the x-direction accelerometer, the y-direction accelerometer and the z-direction accelerometer at the kth sampling time of the jth position after the mth round of correction,
Figure BDA00023287202500000615
respectively zero-offset g of the x, y and z accelerometers at the kth sampling time of the jth position after the mth round of correction0Is the standard gravity acceleration, and the acceleration is the standard gravity acceleration,
Figure BDA00023287202500000616
respectively updated x-, y-, and z-directional gyro output angular velocities, Exy、Eyx、Ezx、Ezy、Exz、EyzMounting errors, e, of both gyrosx、εy、εzOutput angular velocities measured by the gyroscope in x, y and z directions, respectively, E1x、E1y、E1zAre gyro scale factors in x, y and z directions respectively,
Figure BDA00023287202500000617
and respectively zero-offset for the k-th sampling time x, y and z of the j-th position after the m-th round of correction.
Further, in step 1, a second position is obtained by rotating the first position by 90 ° around the Z axis, a third position is obtained by rotating the second position by 90 ° around the Z axis, a fourth position is obtained by rotating the third position by 90 ° around the Z axis, a fifth position is obtained by rotating the fourth position by 90 ° around the Y axis, and a sixth position is obtained by rotating the fifth position by 180 ° around the Y axis, that is, six positions in which the inertial group is located in sequence.
Further, the residual error set value comprises an accelerometer zero-offset residual error set value, an accelerometer scale factor residual error set value and a gyroscope zero-offset residual error set value; the zero offset residual error set value of the accelerometer is 1e-5g0The residual error setting value of the accelerometer scale factor is 1e-5And the zero offset residual error setting value of the gyroscope is 0.03 degree/h.
Advantageous effects
Compared with the prior art, the method for quickly self-calibrating the key parameters of the three-self laser inertial measurement unit realizes error correction of the inertial measurement unit parameters by calculating the parameter residual error of each sampling time of 6 positions, the inertial measurement unit parameters corrected at the current sampling time of the current position are used as the inertial measurement unit parameters of the next sampling time of the position, the error correction of each sampling time of each position is superposed, if the residual error does not reach a set value after one round of error correction, the next round of error correction is carried out, the inertial measurement unit parameters corrected at the last sampling time of the last position of the current round are used as the inertial measurement unit parameters of the first sampling time of the first position of the next round, the error correction of each round is superposed, the error correction of the inertial measurement unit parameters is accelerated, and the self-calibration speed of the inertial measurement unit parameters is improved; the method can finish the calibration of the key parameters of the three-self laser inertial measurement unit drifting along with time within 10min, ensures the hitting precision of a missile weapon system, and greatly reduces the use and maintenance cost.
Detailed Description
The technical solutions in the present invention are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a rapid self-calibration method for key parameters of a three-self laser inertial measurement unit, which comprises the following steps:
1. enabling the inertial measurement units to be sequentially located at 6 positions, carrying out error correction on the key parameters of the inertial measurement units at each sampling moment of each position through parameter residual errors, updating the output parameters of the inertial measurement units at the next sampling moment of the position by the key parameters of the inertial measurement units corrected at the current sampling moment of the position or updating the output parameters of the inertial measurement units at the first sampling moment of the next position by the key parameters of the inertial measurement units corrected at the last sampling moment of the position until the error correction of the key parameters of the inertial measurement units at the last sampling moment of the last position is finished; and (3) judging whether the parameter residual error at the last sampling moment at the last position is smaller than a residual error set value, if so, completing the self-calibration of the key parameter, and otherwise, turning to the step 2.
TABLE 1 sequence listing of the rotational sequence of six positions
Figure BDA0002328720250000081
Taking the first position (j ═ 0) as north and east (i.e., x axis facing north, Y axis facing up, and Z axis facing east), the second position is obtained by rotating the first position 90 ° around the Z axis, the third position is obtained by rotating the second position 90 ° around the Z axis, the fourth position is obtained by rotating the third position 90 ° around the Z axis, the fifth position is obtained by rotating the fourth position 90 ° around the Y axis, and the sixth position is obtained by rotating the fifth position 180 ° around the Y axis, i.e., six positions in which the inerter group is located in sequence, as shown in table 1 below.
According to the principle of coordinate transformation, any two coordinate systems with three orthogonal axes can be superposed together through three rotations, and if the actual first position needs to pass through the rotation α around the Z axis, the rotation β around the rotated X axis and the rotation gamma around the rotated Y axis, the coordinate transformation matrix is used
Figure BDA0002328720250000082
And preprocessing the data.
The inertial measurement unit key parameters comprise accelerometer zero offset, accelerometer calibration factors and gyro zero offset, and the error correction of the inertial measurement unit key parameters at each sampling moment at each position comprises the following steps:
1.1, an initial attitude transformation matrix corresponding to the position at the mth round correction is constructed through the measured acceleration data.
Setting the initial posture transformation matrix of the jth position in the mth round correction as
Figure BDA0002328720250000091
Then
Figure BDA0002328720250000092
Is provided with
Figure BDA0002328720250000093
Then:
Figure BDA0002328720250000094
Figure BDA0002328720250000095
Figure BDA0002328720250000096
Figure BDA0002328720250000097
wherein j is 1,2,3,4,5, Δ DjmFor the angle transformation matrix when the mth correction is transformed to the jth position, the calculation of the angle transformation matrix can be referred to the "inertia theory" of the inventor's book of the Qin Yong Yuan,
Figure BDA0002328720250000098
x, y and z direction acceleration values of the first sampling time at the jth position respectively at the mth wheel correctionAnd the acceleration value is equal to the acceleration value updated at the last sampling moment of the j-1 th position in the mth round of correction, and q is an intermediate calculation auxiliary parameter.
When j is 0, the matrix
Figure BDA0002328720250000099
The element (b) is obtained by the following formula:
Figure BDA00023287202500000910
Figure BDA00023287202500000911
Figure BDA00023287202500000912
Figure BDA00023287202500000913
wherein the content of the first and second substances,
Figure BDA00023287202500000914
and (3) obtaining an initial attitude angle of the inertia set at the first position (j ═ 0) in the mth wheel correction through measurement.
1.2 transforming the matrix according to the initial pose in step 1.1
Figure BDA00023287202500000915
And the navigation solves the speed error and the sky-direction rotation angle error so as to update the speed and the sky-direction rotation angle of the inertial measurement unit.
The velocity error is calculated as:
Figure BDA0002328720250000101
wherein R represents the x, y or z direction,
Figure BDA0002328720250000102
the x, y or z-direction speed error of the kth sampling time at the jth position at the mth round correction,
Figure BDA0002328720250000103
is the x, y or z-direction speed error of the k-1 sampling time of the jth position at the mth round correction,
Figure BDA0002328720250000104
is the attitude transformation matrix of the kth sampling moment of the jth position at the mth round of correction,
Figure BDA0002328720250000105
is the posture transformation matrix of the k-1 sampling moment of the jth position at the mth round of correction,
Figure BDA0002328720250000106
the acceleration output vector (obtained by parameter correction after real-time measurement by an accelerometer) in x, y or z direction at the kth sampling time of the jth position in the mth round of correction, g is the local gravity acceleration, omega is the rotational angular velocity of the earth,
Figure BDA0002328720250000107
in order to be the local latitude,
Figure BDA0002328720250000108
respectively the x, y and z-direction speed errors at the k-1 th sampling time of the jth position in the mth round correction, delta tjmThe sampling time of the j-th position in the mth round correction, k is the sampling time, k is 1,2,3 …, when k is 1, k-1 is equal to 0,
Figure BDA0002328720250000109
is a non-volatile organic compound (I) with a value of 0,
Figure BDA00023287202500001010
transforming a matrix for the initial attitude; and the number of the first and second electrodes,
Figure BDA00023287202500001011
wherein, I is a unit diagonal matrix,
Figure BDA00023287202500001012
and respectively outputting angular velocities of the gyroscope in the k-th sampling time x, y and z directions at the j-th position during the m-th round correction, wherein the output angular velocities are the output angular velocities updated at the last sampling time of the position or the output angular velocities updated at the last sampling time of the position.
The calculation formula of the errors of the rotation angles in the sky direction is as follows:
Figure BDA00023287202500001013
Figure BDA00023287202500001014
wherein the content of the first and second substances,
Figure BDA00023287202500001015
is the day-wise rotation angle error of the kth sampling moment of the jth position in the mth round correction,
Figure BDA00023287202500001016
and transforming the matrix error for the k sampling moment of the j position at the m round of correction.
1.3, calculating the components of the gyro error and the accelerometer error under the geographic coordinate system when the position is not corrected according to the speed error and the sky rotation angle error in the step 1.2, wherein the calculation formula of the components is as follows:
Figure BDA0002328720250000111
Figure BDA0002328720250000112
Figure BDA0002328720250000113
Figure BDA0002328720250000114
wherein the content of the first and second substances,
Figure BDA0002328720250000115
respectively representing the x-direction, y-direction and z-direction speed error components of the kth sampling time of the jth position at the mth round correction under the geographic coordinate system,
Figure BDA0002328720250000116
are all initial attitude transformation matrices
Figure BDA0002328720250000117
The elements (A) and (B) in (B),
Figure BDA0002328720250000118
respectively x-direction speed error, y-direction speed error and z-direction speed error of kth sampling time of jth position at mth round correction,
Figure BDA0002328720250000119
the x-direction acceleration value, the y-direction acceleration value and the z-direction acceleration value of the kth sampling moment of the jth position at the mth round correction (the acceleration value is the acceleration value updated by the last sampling moment of the position or the acceleration value updated by the last sampling moment of the position),
Figure BDA00023287202500001110
is the static end time of the jth location,
Figure BDA00023287202500001111
is the static start time of the jth position, NjmThe number of samples of the jth position at the mth round correction,
Figure BDA00023287202500001112
and the k sampling time x, y or z angular speed error of the j position at the m round correction.
1.4 calculating the parameter residual of the inertial measurement unit according to the calculation in the step 1.3, wherein the calculation formula of the parameter residual is as follows:
Figure BDA0002328720250000121
Figure BDA0002328720250000122
Figure BDA0002328720250000123
Figure BDA0002328720250000124
Figure BDA0002328720250000125
Figure BDA0002328720250000126
Figure BDA0002328720250000127
wherein the content of the first and second substances,
Figure BDA0002328720250000128
computing residual errors for the zero offset of the k sampling time x, y and z of the accelerometer at the jth position in the mth round of correction,
Figure BDA0002328720250000129
computing residual errors for the kth sampling time x, y and z accelerometer scaling factors of the jth position at the mth round correction,
Figure BDA00023287202500001210
calculating residual error for the k-th sampling time x, y or z-direction gyro zero offset of the j-th position in the k-th round correction,
Figure BDA00023287202500001211
respectively are the x-direction speed error components of the kth sampling time x of the 1 st, 2 nd, 3 th, 4 th and 5 th positions in the mth round correction,
Figure BDA00023287202500001212
respectively are the z-direction speed error components of the kth sampling time at the 1 st, 2 nd and 4 th positions in the mth round correction,
Figure BDA00023287202500001213
the k-th sampling time x, y or z-direction angular speed errors of the 1 st, 2 nd, 3 th, 4 th, 5 th and 6 th positions in the m-th correction are respectively.
1.5, carrying out error correction on the key parameters of the inertial measurement unit according to the parameter residual error in the step 1.4, wherein the error correction formula is as follows:
Figure BDA00023287202500001214
Figure BDA00023287202500001215
Figure BDA00023287202500001216
wherein the content of the first and second substances,
Figure BDA00023287202500001217
zero offset is carried out on the accelerometer in the kth sampling time x, y or z direction of the jth position after the mth round of correction,
Figure BDA00023287202500001218
the calibration factor of the x, y or z direction accelerometer at the kth sampling time of the jth position after the mth round of correction,
Figure BDA00023287202500001219
zero-offset is carried out on the k sampling time x, y or z-direction gyro at the j position after the m round of correction, and when k is equal to 1, the k-1 time is the last sampling of the last position in the previous round of correctionAnd (6) engraving.
1.6 updating the inertial set output parameter at the next sampling moment of the position according to the inertial set key parameter corrected in the step 1.5, or updating the inertial set output parameter at the first sampling moment of the next position according to the inertial set key parameter corrected at the last sampling moment of the position. The output parameters of the inertia set comprise an acceleration value and an output angular velocity, and the specific updating formula is as follows:
Figure BDA0002328720250000131
Figure BDA0002328720250000132
wherein the content of the first and second substances,
Figure BDA0002328720250000133
respectively updated acceleration values in x, y and z directions, Kxy(representing the output of the y-axis accelerometer with the x-axis facing the sky), Kyx(representing the output of the x-axis accelerometer with the y-axis facing the sky), Kzx(representing the output of the x-axis accelerometer with the z-axis facing the sky), Kzy(indicating the output of the y-axis accelerometer with the z-axis facing the sky), Kxz(representing the output of the z-axis accelerometer with the x-axis pointing towards the sky), Kyz(indicating the output of the z-axis accelerometer with the y-axis facing the sky) is the mounting error of the accelerometer (factory-specified), g0Is the standard gravity acceleration, and the acceleration is the standard gravity acceleration,
Figure BDA0002328720250000134
respectively updated x-, y-, and z-directional gyro output angular velocities, Exy、Eyx、Ezx、Ezy、Exz、EyzAll are the installation errors (factory given when leaving factory) of the gyro, epsilonx、εy、εzRespectively the output angular velocities measured by the gyroscope in the x, y and z directions (measured by the gyroscope), E1x、E1y、E1zThe x, y, and z gyro scale factors (factory specified) are provided. Acceleration updated at the current time of the positionThe value and the output angular velocity participate in the attitude transformation matrix of the next sampling moment of the position
Figure BDA0002328720250000135
In the calculation of components, etc., or participate in the initial attitude transformation matrix of the first sampling moment of the next position
Figure BDA0002328720250000136
Attitude transformation matrix
Figure BDA0002328720250000137
In the calculation of components and the like, the superposition of error correction is realized, and the self-calibration speed of the key parameters of the inertial measurement unit is accelerated.
And (3) judging whether the parameter residual error at the last sampling moment at the last position is smaller than a residual error set value, if so, completing the self-calibration of the key parameter, and otherwise, turning to the step 2.
The residual error set value comprises an accelerometer zero-offset residual error set value, an accelerometer scale factor residual error set value and a gyroscope zero-offset residual error set value; the zero offset residual error setting value of the accelerometer is 1e-5g0The accelerometer scale factor residual error setting value is 1e-5The zero offset residual error setting value of the gyroscope is 0.03 degree/h, namely, the judgment is carried out
Figure BDA0002328720250000138
Whether or not less than 1e-5g0(in this example, g0The value is 9.80665m/s2)，
Figure BDA0002328720250000139
Whether or not less than 1e-5，
Figure BDA00023287202500001310
Whether the temperature is less than 0.03 DEG/h.
2. And (3) updating the inertial measurement unit output parameter at the first sampling moment at the first position by using the inertial measurement unit key parameter corrected at the last sampling moment at the last position (an updating formula is shown in step 1.6), and circularly executing the step 1 until the residual error of the key parameter at the last sampling moment at the last position is less than the residual error set value.
The calibration method realizes the self-calibration of the key parameters of the inertial measurement unit by calculating the parameter residual error of each sampling moment at each position, carries out judgment once after each error correction is finished until the residual error set value is met, the method is characterized in that the self-calibration of the key parameters is completed, the calculation of the residual error of the key parameters is completed through a computer program, the error correction of the inertial set key parameters can be rapidly realized at each position, the corrected inertial set key parameters are used as the inertial set output parameters at the next sampling time or the next position, the inertial set key parameters corrected at the last position are used as the inertial set output parameters at the first sampling time of the first position during the next round of error correction, the error correction at each sampling time of each position and the error correction of each round are superposed, the error correction of the inertial set key parameters is accelerated, and the self-calibration speed of the inertial set key parameters is improved; the method can finish the calibration of the key parameters of the three-self laser inertial measurement unit drifting along with time within 10min, and other non-drifting along with time parameters are determined through the last full-parameter calibration, so that the hitting precision of a missile weapon system is ensured, and the use and maintenance cost is greatly reduced.
The above disclosure is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or modifications within the technical scope of the present invention, and shall be covered by the scope of the present invention.

Claims (10)

1. A three-self laser inertial measurement unit key parameter rapid self-calibration method is characterized by comprising the following steps:
step 1: enabling the inertial measurement units to be sequentially located at 6 positions, carrying out error correction on the inertial measurement unit key parameters at each sampling moment of each position through parameter residual errors, updating the inertial measurement unit output parameters at the next sampling moment of the position by using the inertial measurement unit key parameters corrected at the current sampling moment of the position, or updating the inertial measurement unit output parameters at the first sampling moment of the next position by using the inertial measurement unit key parameters corrected at the last sampling moment of the position until the error correction of the inertial measurement unit key parameters at the last sampling moment of the last position is finished; judging whether the residual error of the key parameter at the last sampling moment at the last position is smaller than a residual error set value, if so, completing the self-calibration of the key parameter, otherwise, turning to the step 2;
step 2: and (3) updating the inertial measurement unit output parameter at the first sampling moment at the first position by using the inertial measurement unit key parameter corrected at the last sampling moment at the last position, and circularly executing the step (1) until the residual error of the key parameter at the last sampling moment at the last position is less than the residual error set value.
2. The method for fast self-calibration of the key parameters of the three-self laser inertial measurement unit according to claim 1, wherein in the step 1, the error correction of the key parameters of the inertial measurement unit at each sampling time of each position comprises the following steps:
step 1.1, constructing an initial attitude transformation matrix corresponding to the position during the mth round correction through the measured acceleration data;
step 1.2, resolving a speed error and a space direction rotation angle error according to the initial attitude transformation matrix navigation in the step 1.1 so as to update the speed and the space direction rotation angle of the inertial measurement unit;
step 1.3, calculating the components of the gyro error and the accelerometer error under the geographic coordinate system when the position is not corrected according to the speed error and the sky rotation angle error in the step 1.2;
step 1.4, calculating parameter residual errors of the inertial measurement units according to the amount in the step 1.3;
and step 1.5, carrying out error correction on the key parameters of the inertial measurement unit according to the parameter residual error in the step 1.4.
3. The method for rapidly self-calibrating the key parameters of the three-self laser inertial measurement unit according to claim 2, wherein in the step 1.1, the initial attitude transformation matrix of the jth position in the mth round of correction is used
Figure FDA0002328720240000011
To indicate that the user is not in a normal position,
Figure FDA0002328720240000012
is provided with
Figure FDA0002328720240000013
Figure FDA0002328720240000014
Then:
Figure FDA0002328720240000015
Figure FDA0002328720240000016
Figure FDA0002328720240000017
Figure FDA0002328720240000018
wherein j is 1,2,3,4,5, Δ DjmIs an angle transformation matrix when the m-th correction is transformed to the j-th position,
Figure FDA0002328720240000019
respectively obtaining x, y and z-direction acceleration values at the first sampling moment of the jth position in the mth round correction, wherein q is a middle calculation auxiliary parameter;
when j is 0, the matrix
Figure FDA0002328720240000021
The element (b) is obtained by the following formula:
Figure FDA0002328720240000022
Figure FDA0002328720240000023
Figure FDA0002328720240000024
Figure FDA0002328720240000025
wherein the content of the first and second substances,
Figure FDA0002328720240000026
and the initial attitude angle of the inertial set at the first position during the m-th wheel correction is obtained.
4. The method for fast self-calibration of key parameters of a three-self laser inertial measurement unit according to claim 2, wherein in step 1.2, the calculation formula of the speed error is as follows:
Figure FDA0002328720240000027
wherein R represents the x, y or z direction,
Figure FDA0002328720240000028
the x, y or z-direction speed error of the kth sampling time at the jth position at the mth round correction,
Figure FDA0002328720240000029
is the x, y or z-direction speed error of the k-1 sampling time of the jth position at the mth round correction,
Figure FDA00023287202400000210
is the attitude transformation matrix of the kth sampling moment of the jth position at the mth round of correction,
Figure FDA00023287202400000211
is the posture transformation matrix of the k-1 sampling moment of the jth position at the mth round of correction,
Figure FDA00023287202400000212
Figure FDA00023287202400000213
the vector is output for the kth sampling time x, y or z of the jth position during the mth round correction, g is the local gravity acceleration, omega is the rotational angular velocity of the earth,
Figure FDA00023287202400000214
in order to be the local latitude,
Figure FDA00023287202400000215
respectively the x, y and z-direction speed errors at the k-1 th sampling time of the jth position in the mth round correction, delta tjmA sampling time of the jth position in the mth round correction, k is a sampling time, k is 1,2,3 …, and:
Figure FDA00023287202400000216
wherein, I is a unit diagonal matrix,
Figure FDA00023287202400000217
Figure FDA00023287202400000218
outputting angular velocities of the gyroscope in x, y and z directions at the kth sampling time of the jth position at the mth round correction;
the calculation formula of the errors of the rotation angles in the sky direction is as follows:
Figure FDA0002328720240000031
Figure FDA0002328720240000032
wherein the content of the first and second substances,
Figure FDA0002328720240000033
is the day-wise rotation angle error of the kth sampling moment of the jth position in the mth round correction,
Figure FDA0002328720240000034
and transforming the matrix error for the k sampling moment of the j position at the m round of correction.
5. The method for fast self-calibration of key parameters of the three-self laser inertial measurement unit according to claim 2, wherein in step 1.3, the calculation formulas of the components of the gyro error and the accelerometer error in the geographic coordinate system when not corrected are as follows:
Figure FDA0002328720240000035
Figure FDA0002328720240000036
Figure FDA0002328720240000037
Figure FDA0002328720240000038
wherein the content of the first and second substances,
Figure FDA0002328720240000039
respectively representing the x-direction, y-direction and z-direction speed error components of the kth sampling time of the jth position at the mth round correction under the geographic coordinate system,
Figure FDA00023287202400000310
are all initial attitude transformation matrices
Figure FDA00023287202400000311
The elements (A) and (B) in (B),
Figure FDA00023287202400000312
respectively x-direction speed error, y-direction speed error and z-direction speed error of kth sampling time of jth position at mth round correction,
Figure FDA00023287202400000313
the acceleration values in the x direction, the y direction and the z direction of the kth sampling time of the jth position at the mth round correction are respectively,
Figure FDA00023287202400000314
is the static end time of the jth location,
Figure FDA00023287202400000315
is the static start time of the jth position, k is the sampling time, Δ tjmIs the sampling time of the jth position in the mth round correction, g is the local gravity acceleration, NjmIs the sampling number of the jth position in the mth round of correction, R represents the x, y or z direction,
Figure FDA0002328720240000041
Figure FDA0002328720240000042
is the k sampling time x, y or z angular speed error of the jth position at the mth round correction,
Figure FDA0002328720240000043
Figure FDA0002328720240000044
and the k sampling time x, y and z of the jth position during the mth round correction are respectively the output angular velocities of the gyroscope in the z direction.
6. The method for fast self-calibration of key parameters of a three-self laser inertial measurement unit according to claim 2, wherein in step 1.4, the calculation formula of the parameter residuals of the inertial measurement unit is as follows:
Figure FDA0002328720240000045
Figure FDA0002328720240000046
Figure FDA0002328720240000047
Figure FDA0002328720240000048
Figure FDA0002328720240000049
Figure FDA00023287202400000410
Figure FDA00023287202400000411
wherein the content of the first and second substances,
Figure FDA00023287202400000412
computing residual errors for the zero offset of the k sampling time x, y and z of the accelerometer at the jth position in the mth round of correction,
Figure FDA00023287202400000413
computing residual errors for the kth sampling time x, y and z accelerometer scaling factors of the jth position at the mth round correction,
Figure FDA00023287202400000414
r represents the x, y or z direction,
Figure FDA00023287202400000415
calculating residual error for the k-th sampling time x, y or z-direction gyro zero offset of the j-th position in the k-th round correction,
Figure FDA00023287202400000416
respectively are the x-direction speed error components of the kth sampling time x of the 1 st, 2 nd, 3 th, 4 th and 5 th positions in the mth round correction,
Figure FDA00023287202400000417
respectively are the z-direction speed error components of the kth sampling time at the 1 st, 2 nd and 4 th positions in the mth round correction,
Figure FDA00023287202400000418
the k-th sampling time x, y or z-direction angular speed errors of the 1 st, 2 nd, 3 th, 4 th, 5 th and 6 th positions in the m-th correction are respectively.
7. The method for fast self-calibration of the key parameters of the three-self laser inertial measurement unit according to claim 2, wherein in the step 1.5, an error correction formula of the key parameters of the inertial measurement unit is as follows:
Figure FDA00023287202400000419
Figure FDA0002328720240000051
Figure FDA0002328720240000052
wherein R represents the x, y or z direction,
Figure FDA0002328720240000053
corrected j th for m th roundThe location sample time k x, y or z is zero offset to the accelerometer,
Figure FDA0002328720240000054
the calibration factor of the x, y or z direction accelerometer at the kth sampling time of the jth position after the mth round of correction,
Figure FDA0002328720240000055
zero-offset for the k sampling time x, y or z of the jth position after the mth round of correction,
Figure FDA0002328720240000056
computing residual error for the zero offset of the k sampling time x, y or z direction accelerometer of the jth position at the mth round correction,
Figure FDA0002328720240000057
computing residual error for the kth sampling time x, y or z accelerometer scaling factor of the jth position at the mth round of correction,
Figure FDA0002328720240000058
and computing a residual error for the k-th sampling time x, y or z-direction gyro zero offset of the j-th position in the m-th round correction, wherein when k is 1, the k-1 time is the last sampling time of the last position in the previous round correction.
8. The method for fast self-calibration of key parameters of a three-self laser inertial measurement unit according to claim 1 or 2, wherein in the step 1 or 2, a specific formula for updating the inertial measurement unit output parameters is as follows:
Figure FDA0002328720240000059
Figure FDA00023287202400000510
wherein the content of the first and second substances,
Figure FDA00023287202400000511
respectively updated acceleration values in x, y and z directions, Kxy、Kyx、Kzx、Kzy、Kxz、KyzAre all the installation errors of the accelerometer,
Figure FDA00023287202400000512
respectively outputting vectors of the acceleration in the x direction, the y direction or the z direction at the kth sampling time of the jth position at the mth round correction,
Figure FDA00023287202400000513
respectively calibrating factors of the x-direction accelerometer, the y-direction accelerometer and the z-direction accelerometer at the kth sampling time of the jth position after the mth round of correction,
Figure FDA00023287202400000514
respectively zero-offset g of the x, y and z accelerometers at the kth sampling time of the jth position after the mth round of correction0Is the standard gravity acceleration, and the acceleration is the standard gravity acceleration,
Figure FDA00023287202400000515
respectively updated x-, y-, and z-directional gyro output angular velocities, Exy、Eyx、Ezx、Ezy、Exz、EyzMounting errors, e, of both gyrosx、εy、εzOutput angular velocities measured by the gyroscope in x, y and z directions, respectively, E1x、E1y、E1zAre gyro scale factors in x, y and z directions respectively,
Figure FDA00023287202400000516
and respectively zero-offset for the k-th sampling time x, y and z of the j-th position after the m-th round of correction.
9. The method for fast self-calibration of key parameters of the three-self laser inertial measurement unit according to claim 1, wherein in step 1, the second position is obtained by rotating the first position by 90 ° around the Z axis, the third position is obtained by rotating the second position by 90 ° around the Z axis, the fourth position is obtained by rotating the third position by 90 ° around the Z axis, the fifth position is obtained by rotating the fourth position by 90 ° around the Y axis, and the sixth position is obtained by rotating the fifth position by 180 ° around the Y axis, namely the six positions where the inertial measurement unit is located in sequence.
10. The method of claim 1, wherein the residual settings comprise an accelerometer zero-offset residual setting, an accelerometer scale factor residual setting, and a gyroscope zero-offset residual setting; the zero offset residual error set value of the accelerometer is 1e-5g0The residual error setting value of the accelerometer scale factor is 1e-5And the zero offset residual error setting value of the gyroscope is 0.03 degree/h.
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