CN113624251A - High-precision calibration method for mining inertial navigation system - Google Patents
High-precision calibration method for mining inertial navigation system Download PDFInfo
- Publication number
- CN113624251A CN113624251A CN202010395035.5A CN202010395035A CN113624251A CN 113624251 A CN113624251 A CN 113624251A CN 202010395035 A CN202010395035 A CN 202010395035A CN 113624251 A CN113624251 A CN 113624251A
- Authority
- CN
- China
- Prior art keywords
- navigation system
- inertial navigation
- mining
- data
- precision
- 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.)
- Pending
Links
- 238000005065 mining Methods 0.000 title claims abstract description 65
- 238000000034 method Methods 0.000 title claims abstract description 55
- 230000003068 static effect Effects 0.000 claims abstract description 35
- 230000001133 acceleration Effects 0.000 claims abstract description 19
- 238000005259 measurement Methods 0.000 claims abstract description 18
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000010998 test method Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 9
- 239000013307 optical fiber Substances 0.000 description 5
- 239000010453 quartz Substances 0.000 description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005295 random walk Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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 provides a high-precision calibration method for a mining inertial navigation system, which comprises the following steps: s1, fixing the mining inertial navigation system on a calibration turntable; s2, collecting initial alignment data of the orientation of the mining inertial navigation system 4; s3, collecting static calibration data of the mining inertial navigation system 12; s4, collecting dynamic calibration data of the orientation of the mining inertial navigation system 4; and S5, storing the initial alignment data, the static calibration data and the dynamic calibration data. According to the invention, the system angular velocity and linear acceleration constant measurement errors which cannot be obtained by a conventional test method can be calibrated by the cooperative application of the gyroscope and the accelerometer, the alignment and navigation accuracy of the inertial navigation system can be greatly improved, the performance of the inertial navigation system is effectively improved, and the production and use cost of the inertial navigation system is reduced.
Description
Technical Field
The invention relates to the technical field of inertial navigation, in particular to a high-precision calibration method for a mining inertial navigation system.
Background
At present, in the process of calibrating parameters of an existing inertial navigation system (abbreviated as an inertial navigation system), since the angular velocity and the linear acceleration of the inertial navigation system cannot be calibrated at the same time, calibration results for the inertial navigation system have certain defects, which often cause measurement errors.
In addition, the existing inertial navigation system requires higher assembly precision so as to realize high-precision inertial navigation of the inertial navigation system, thereby improving the manufacturing cost of the inertial navigation system and simultaneously having higher requirements on the application of customers.
Therefore, how to provide an inertial navigation system with reasonable assembly precision requirement and better measurement precision and a calibration method for improving the precision thereof become problems to be solved urgently.
Disclosure of Invention
The invention provides a high-precision calibration method for a mining inertial navigation system, which has the advantages of reasonable design and high measurement precision.
The invention discloses a high-precision calibration method for a mining inertial navigation system, which comprises the following steps:
s1, fixing the mining inertial navigation system on a calibration turntable;
s2, collecting initial alignment data of the orientation of the mining inertial navigation system 4;
s3, collecting static calibration data of the mining inertial navigation system 12;
s4, collecting dynamic calibration data of the orientation of the mining inertial navigation system 4;
and S5, storing the initial alignment data, the static calibration data and the dynamic calibration data.
Preferably, the mining inertial navigation system comprises three gyroscopes and three accelerometers, and the three gyroscopes and the three accelerometers are respectively arranged on an X axis, a Y axis and a Z axis.
Preferably, the calibration turntable position accuracy is 0.001 ° and the speed accuracy is 0.001 °/s.
Preferably, the method for acquiring the initial alignment data comprises the following steps: by electrifying the mining inertial navigation system, when the mining inertial navigation system operates stably, the angular velocities and the linear acceleration of the mining inertial navigation system in three axial directions are acquired.
Preferably, the 4 orientations include: southwest, northwest, northeast and southeast.
Preferably, the method for acquiring the static calibration data comprises the following steps: and after the mining inertial navigation system is electrified and stably operated, acquiring the angular velocity and the linear acceleration of each axial direction of the mining inertial navigation system in the measurement time by using the measurement frequency.
Further preferably, the measuring frequency is 50Hz to 1000 Hz; the measurement time is 30 min.
Preferably, the 12 orientations include: northwest, southeast, northeast, southwest, northwest, northeast, southeast, southwest, northwest, northeast, and southeast.
Preferably, the method for acquiring dynamic calibration data comprises the following steps: after the mining inertial navigation system is electrified and operates stably, the mining inertial navigation system collects static calibration data for 5min, rotates 3600 degrees around the Z-axis direction at 10 degrees/s, returns to the collection initial position and collects the static calibration data again for 5 min.
Preferably, the initial alignment data, the static calibration data and the dynamic calibration data are stored in a format of TXT text.
According to the high-precision calibration method for the mining inertial navigation system, the constant measurement errors of the angular velocity and the linear acceleration of the system, which cannot be obtained by a conventional test method, can be calibrated by the cooperative application of the gyroscope and the accelerometer, the alignment and navigation precision of the inertial navigation system can be greatly improved, the performance of the inertial navigation system is effectively improved, and the production and use cost of the inertial navigation system is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 is a flow chart of a high-precision calibration method for a mining inertial navigation system according to the invention.
FIG. 2 is a graph illustrating the effect of a curve before compensation of a flexible inertial navigation system according to an embodiment of the high-precision calibration method for a mining inertial navigation system.
FIG. 3 is a graph showing the effect of a compensated curve of a flexible inertial navigation system according to an embodiment of the high-precision calibration method for a mining inertial navigation system.
FIG. 4 is a graph showing the effect of a curve before compensation of a laser inertial navigation system in an embodiment of the high-precision calibration method for the mining inertial navigation system according to the present invention.
FIG. 5 is a graph of the effect of a compensated curve of a laser inertial navigation system in an embodiment of the high-precision calibration method for the mining inertial navigation system according to the present invention.
FIG. 6 is a graph showing the effect of a curve before compensation of an optical fiber attitude and heading reference system according to an embodiment of the high-precision calibration method for the mining inertial navigation system.
FIG. 7 is a graph showing the effect of a curve before compensation of an optical fiber attitude and heading reference system in an embodiment of the high-precision calibration method for the mining inertial navigation system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.
FIG. 1 is a flow chart of a high-precision calibration method for a mining inertial navigation system according to the invention. As shown in fig. 1, in this embodiment, the high-precision calibration method for the mining inertial navigation system specifically includes the following steps:
and S1, fixing the mining inertial navigation system on a calibration turntable.
Specifically, the mining inertial navigation system specifically comprises three gyroscopes and three accelerometers. The three gyroscopes and the three accelerometers are respectively arranged on a horizontal axis X axis, a horizontal axis Y axis and a course axis Z axis so as to enable the inertial navigation system to meet the right-hand rule.
Further, the precision requirement of the calibration turntable is specifically as follows: the position precision is 0.001 degrees, and the speed precision is 0.001 degrees/s, so that the calibration turntable can meet the requirement of high-precision calibration in the embodiment.
And S2, acquiring initial alignment data of the orientation of the mining inertial navigation system 4.
Specifically, the method for acquiring the initial alignment data may specifically be set as follows: the mining inertial navigation system is electrified to operate normally, and when the mining inertial navigation system operates stably, the angular velocity and the linear acceleration of the mining inertial navigation system in the direction of 4 azimuths in the three axial directions are acquired.
Further, the 4-direction specifically includes: southwest, northwest, northeast and southeast.
Still further, the acquisition of the initial alignment data may be achieved by:
after the inertial navigation system operates stably, three axial directions are respectively collected within 5 minutes of collection time in the 4 azimuth direction, the gyroscope and the accelerometer respectively output pulse accumulation, and the pulse accumulation is converted into corresponding angular velocity and linear acceleration output (the unit is: (degree per second, m per second, respectively): (degree per second, m per second, degree per second, degree per second, and degree per second, degree per second, and degree per second, the degree per second, degree per second, the degree per second, and degree per second, of the degree per second, and degree per second, the degree per second, and degree per second, of the degree per second, and degree per second, the degree per second, and2). The specific data collected can be recorded as: TWx, TWy, TWz, TAx, TAy and TAz, wherein the TWx, TWy and TWz are angular velocities of the inertial navigation system gyroscope in three axial initial stages, and the TAx, TAy and TAz are linear accelerations of the inertial navigation system accelerometer in three axial initial stages.
Still further, the initial alignment data is stored in the TXT text, i.e., TWx, TWy, TWz, TAx, TAy, and TAz may be specifically stored in different TXT texts in one example; in addition, since data acquisition needs to be performed on the inertial navigation system in the 4-azimuth direction, the file name of the TXT text can refer to the setting as an example in table 1 below; even recording the angular velocity and linear acceleration of the triaxial 4 azimuth can be used, i.e. 3 × 4 × 2 ═ 24, for a total of 24 TXT files.
TABLE 1
And S3, acquiring static calibration data of the orientation of the mining inertial navigation system 12.
Specifically, the method for acquiring the static calibration data may specifically be set as follows: after the mining inertial navigation system is electrified and stably operated, the angular velocity and the linear acceleration of each axial direction of the mining inertial navigation system are acquired within the determination time at a certain determination frequency.
Furthermore, the selectable range of the measuring frequency is 50Hz to 1000 Hz; the measurement time may be selected to be 30 min.
Further, if the system stability and repeatability of the inertial navigation system are detected to be good, the determination time can be shortened according to actual conditions, for example, the determination time is shortened to 20 min.
Further, the 12-position specifically includes: northwest, southeast, northeast, southwest, northwest, northeast, southeast, southwest, northwest, northeast, and southeast.
Further, after the inertial navigation system operates stably, a fixed measurement frequency f is selected from 50Hz to 1000Hz, for example, 100Hz is selected here, and data acquisition is performed on the three-axis angular velocity and the linear acceleration of the inertial navigation system, and the specifically acquired data can be recorded as: wx, Wy, Wz, Ax, Ay and Az, wherein Wx, Wy and Wz are angular velocities of the inertial navigation system gyroscope under three axial static acquisitions, and Ax, Ay and Az are linear accelerations of the inertial navigation system accelerometer under three axial static acquisitions.
Still further, the static calibration data is stored in the TXT text, that is, in an example, Wx, Wy, Wz, Ax, Ay, and Az may be stored in different TXT texts, respectively; in addition, since data acquisition needs to be performed on the inertial navigation system in the 12-azimuth direction, the file name of the TXT text can refer to the setting as an example in the following table 2; even 72 TXT files can be used, in which the angular velocity and linear acceleration of the three-axis 12 azimuth are recorded separately, i.e., 3 × 12 × 2 — 24.
TABLE 2
And S4, collecting dynamic calibration data of the mining inertial navigation system 4.
Specifically, the method for acquiring dynamic calibration data may specifically be set as follows: when the mining inertial navigation system is electrified and operates stably, acquiring static calibration data for 5min by the static calibration data acquisition method in the step S3, rotating the inertial navigation system at 3600 degrees along the Z-axis direction at a rotation speed of 10 degrees/S, returning to an acquisition initial position, and acquiring the static calibration data for 5min by adopting the same set parameters again.
Still further, the dynamic data acquisition process of the inertial navigation system in the 4-azimuth southwest, northwest, northeast and southeast can be realized by the following method:
the static calibration data acquisition selects a fixed measurement frequency f, which may be selected here as 100Hz, for example.
The inertial navigation system is placed at the northeast position, after static calibration data are collected for 5 minutes, the inertial navigation system returns to the northeast position after being rotated by 3600 degrees at the rotation speed of 10 degrees/s along the positive direction of the z axis, enters the static state again, collects the data of Wx, Wy, Wz, Ax, Ay and Az of the inertial navigation system for 16 minutes at the frequency f and stores the data in a TXT file named SLEN.
The inertial navigation system is placed at a southwest position, after static calibration data are collected for 5 minutes, the inertial navigation system returns to the southwest position after being rotated 3600 degrees along a positive direction of a z axis at a rotation speed of 10 degrees/s, enters the static state again, collects the data of Wx, Wy, Wz, Ax, Ay and Az of the inertial navigation system for 16 minutes at a frequency f and stores the data in a TXT file named SLWSU.
The inertial navigation system is placed at a north-west position, after static calibration data are collected for 5 minutes, the inertial navigation system returns to the north-west position after being rotated by 3600 degrees along a z-axis forward direction at a rotation speed of 10 degrees/s, enters a static state again, collects the data of Wx, Wy, Wz, Ax, Ay and Az of the inertial navigation system for 16 minutes at a frequency f and stores the data in a TXT file named SLNWU.
The inertial navigation system is placed at a south east sky position, after static calibration data are collected for 5 minutes, the inertial navigation system returns to the south east sky position after being rotated by 3600 degrees at a rotation speed of 10 degrees/s along the positive direction of a z axis, enters a static state again, collects the data of Wx, Wy, Wz, Ax, Ay and Az of the inertial navigation system for 16 minutes at a frequency f and stores the data in a TXT file named SLSEU.
Still further, in this embodiment, in the process of acquiring all the static calibration data and the dynamic calibration data, the operation of the inertial navigation system is completed at the same location, and the latitude and the longitude of the working location are provided to the inertial navigation system by initializing the TXT file, and the accuracy is not lower than 0.001 °, and the altitude and the data acquisition frequency f.
And S5, storing the initial alignment data, the static calibration data and the dynamic calibration data.
Specifically, the acquired initial alignment data, static calibration data and dynamic calibration data of the inertial navigation system are respectively stored to finish the calibration of the inertial navigation system, so that the measurement result can be compensated by a calibration file conveniently in the actual use process of the subsequent inertial navigation system, and the measurement precision is effectively improved.
Furthermore, in this embodiment, all data acquisition processes need to include processing such as proportional term conversion, zero error compensation, and installation error compensation (filter algorithm) for acquired signals, so as to better implement high-precision calibration of the inertial navigation system on the acquired data.
Further, in this embodiment, all data calculations are performed by binary 64-bit floating point operations. In all data storage files, each group of collected data occupies one row independently, the data are separated by a space character, each group of data is stored in decimal and has no less than 16 valid bits, and the storage sequence of each group of data is Wx, Wy, Wz, Ax, Ay, Az or TWx, TWy, TWz, TAx, TAy and TAz.
The high-precision calibration method for the inertial navigation system mainly aims at calibrating the constant error of the system, so that the angular velocity and acceleration information only need to be corrected before the navigation calculation, and the calculation amount and the complexity are hardly increased.
Furthermore, the high-precision calibration method for the inertial navigation system in this embodiment needs to provide performance indexes and first-off test data of the adopted inertial navigation system, and angular velocity and acceleration data acquired by a conventional calibration method. If the system needs to be temperature compensated, angular velocity and acceleration data collected at different temperature points for routine calibration needs to be provided.
The specific implementation case is as follows:
one or a certain type flexible strapdown inertial navigation system
The flexible strapdown inertial navigation system consists of a zero-offset 0.1 degree/h flexible gyroscope and a 30ug quartz adding meter, and the zero position, installation error and the like of the system can be identified and compensated through position and speed calibration, but constant drift cannot be compensated.
As shown in the attached table 3, after the system is compensated by using the calibration method, the self-north-seeking precision and the horizontal attitude angle alignment precision are both improved by nearly one order of magnitude; the pure inertial navigation positioning precision reaches the high-precision navigation level inertial navigation precision.
TABLE 3
The specific effect curve before compensation of the flexible strapdown inertial navigation system of the embodiment is shown in fig. 2, and the lower passing curve after compensation by the calibration method of the invention is shown in fig. 3.
Two or a certain type flexible gyro north seeker
The type of flexible gyroscope north seeker consists of a zero-offset 0.2 degree/h flexible gyroscope and a 50ug quartz adding table, wherein the static single-position self-north-seeking precision is only 0.76 degree sec (L), and L is the geographical latitude.
As shown in Table 4, the calibration method of the present invention can break through the accuracy bottleneck of the system, so that the accuracy of the north seeker is improved by one order of magnitude.
TABLE 4
Three-model or certain-model laser strapdown inertial navigation system
The laser strapdown inertial navigation system consists of a laser gyro with zero offset of 0.1 degree/h, random walk of 0.01 degree/v h and a 50ug quartz adding meter.
As shown in Table 5, the calibration method of the present invention minimizes the zero offset error, and improves the self-north-seeking and navigation accuracy of the system.
Besides the advantages of short starting time, impact resistance, long service life, high reliability and the like, the precision, stability and repeatability of the laser gyro are outstanding characteristics, so that the calibration method provided by the invention is more effective to the laser strapdown inertial navigation system.
TABLE 5
The specific effect curve before compensation of the laser strapdown inertial navigation system of the embodiment is shown in fig. 4, and the lower passing curve after compensation by the calibration method of the invention is shown in fig. 5.
Four, certain type optic fibre boat appearance system
The model of the optical fiber attitude and heading reference system consists of an optical fiber gyroscope with zero offset of 0.2 degree/h and random walk of 0.01 degree/v/h and a 50ug quartz adding meter.
As shown in Table 6, the calibration method of the present invention can also improve the system accuracy.
TABLE 6
The specific effect curve before compensation of the optical fiber attitude and heading reference system of the embodiment is shown in fig. 6, and the lower passing curve after compensation by the calibration method of the invention is shown in fig. 7.
According to the high-precision calibration method for the mining inertial navigation system, the constant measurement errors of the angular velocity and the linear acceleration of the system, which cannot be obtained by a conventional test method, can be calibrated by the cooperative application of the gyroscope and the accelerometer, the alignment and navigation precision of the strapdown inertial navigation system can be greatly improved, the performance of the strapdown inertial navigation system is effectively improved, and the production and use cost of the strapdown inertial navigation system is reduced.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The high-precision calibration method for the mining inertial navigation system is characterized by comprising the following steps:
s1, fixing the mining inertial navigation system on a calibration turntable;
s2, acquiring initial alignment data of the mining inertial navigation system 4;
s3, collecting static calibration data of the mining inertial navigation system 12;
s4, collecting dynamic calibration data of the mining inertial navigation system 4;
and S5, storing the initial alignment data, the static calibration data and the dynamic calibration data.
2. The high-precision calibration method for the mining inertial navigation system according to claim 1, wherein the mining inertial navigation system comprises three gyroscopes and three accelerometers, and the three gyroscopes and the three accelerometers are respectively arranged on an X axis, a Y axis and a Z axis.
3. The high-precision calibration method for the mining inertial navigation system according to claim 1, wherein the calibration turntable is 0.001 ° in position precision and 0.001 °/s in speed precision.
4. The high-precision calibration method for the mining inertial navigation system according to claim 1, wherein the initial alignment data is acquired by a method comprising the following steps:
by electrifying the mining inertial navigation system, when the mining inertial navigation system operates stably, acquiring the angular velocity and the linear acceleration of the mining inertial navigation system in three axial directions.
5. The high-precision calibration method for the mining inertial navigation system according to claim 1, wherein the 4-direction comprises: southwest, northwest, northeast and southeast.
6. The high-precision calibration method for the mining inertial navigation system according to claim 1, wherein the static calibration data is acquired by a method comprising the following steps:
and after the mining inertial navigation system is electrified and stably operated, acquiring the angular velocity and the linear acceleration of each axial direction of the mining inertial navigation system in the measurement time by using the measurement frequency.
7. The high-precision calibration method for the mining inertial navigation system according to claim 6, wherein the measurement frequency is 50 Hz-1000 Hz; the measurement time is 30 min.
8. The high-precision calibration method for the mining inertial navigation system according to claim 1, wherein the 12-direction comprises: northwest, southeast, northeast, southwest, northwest, northeast, southeast, southwest, northwest, northeast, and southeast.
9. The high-precision calibration method for the mining inertial navigation system according to claim 1, wherein the dynamic calibration data is acquired by a method comprising the following steps:
and after the mining inertial navigation system is electrified and operates stably, acquiring the static calibration data for 5min, and returning to an initial acquisition position by rotating 3600 degrees around the Z-axis direction at 10 degrees/s to acquire the static calibration data for 5min again.
10. The method for high-precision calibration of the mining inertial navigation system according to claim 1, wherein the initial alignment data, the static calibration data and the dynamic calibration data are stored in a format of TXT text.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010395035.5A CN113624251A (en) | 2020-05-09 | 2020-05-09 | High-precision calibration method for mining inertial navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010395035.5A CN113624251A (en) | 2020-05-09 | 2020-05-09 | High-precision calibration method for mining inertial navigation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113624251A true CN113624251A (en) | 2021-11-09 |
Family
ID=78377731
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010395035.5A Pending CN113624251A (en) | 2020-05-09 | 2020-05-09 | High-precision calibration method for mining inertial navigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113624251A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114543836A (en) * | 2022-01-22 | 2022-05-27 | 中国船舶重工集团公司第七0七研究所 | Marine attitude reference dynamic installation calibration-free method |
-
2020
- 2020-05-09 CN CN202010395035.5A patent/CN113624251A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114543836A (en) * | 2022-01-22 | 2022-05-27 | 中国船舶重工集团公司第七0七研究所 | Marine attitude reference dynamic installation calibration-free method |
| CN114543836B (en) * | 2022-01-22 | 2024-02-23 | 中国船舶重工集团公司第七0七研究所 | Calibration-free method for dynamically installing attitude reference of ship |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104736963B (en) | mapping system and method | |
| US3509765A (en) | Inertial navigation system | |
| CN112595350B (en) | Automatic calibration method and terminal for inertial navigation system | |
| CN110887507B (en) | Method for quickly estimating all zero offsets of inertial measurement units | |
| US6904377B2 (en) | Method for measuring force-dependent gyroscope sensitivity | |
| CN112964240B (en) | Continuous north-seeking device and method, electronic equipment and storage medium | |
| CN105371844A (en) | Initialization method for inertial navigation system based on inertial / celestial navigation interdependence | |
| CN102257358A (en) | Method for determining a heading in the direction of true north using an inertial measurement unit | |
| CN110296719B (en) | On-orbit calibration method | |
| CN109708663B (en) | Star sensor online calibration method based on aerospace plane SINS assistance | |
| CN113503892A (en) | Inertial navigation system moving base initial alignment method based on odometer and backtracking navigation | |
| CN112050807A (en) | SINS-GNSS combined navigation method based on time synchronization compensation | |
| CN111722295A (en) | Underwater strapdown gravity measurement data processing method | |
| CN113624251A (en) | High-precision calibration method for mining inertial navigation system | |
| RU2717566C1 (en) | Method of determining errors of an inertial unit of sensitive elements on a biaxial rotary table | |
| CN110514201B (en) | Inertial navigation system and navigation method suitable for high-rotation-speed rotating body | |
| CN115727846B (en) | Multi-thread backtracking type integrated navigation method for strapdown inertial navigation and satellite navigation | |
| CN115931001A (en) | Inertial measurement unit calibration method and device, computer equipment and storage medium | |
| CN112882118B (en) | Method and system for estimating gravity vector of movable base under earth-fixed coordinate system and storage medium | |
| CN115993114A (en) | Two-position smooth and accurate north-seeking method based on MEMS gyroscope north-seeking instrument | |
| Stanisak | „Inertial Technology: Sensors, Algorithms, and Integration,“ | |
| Cai et al. | A Multiposition Initial Alignment Method of Portable MIMU/FOG Compound Navigation System | |
| CN115655316B (en) | Method for testing precision of fiber-optic gyroscope based on earth position change | |
| RU2343418C1 (en) | Mobile angular position detector relative to gravity vector and method of application thereof | |
| Schmidt | Similarities between classical celestial navigation and electrostatic gyro navigation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20211109 |