Research On Calibration Technology Of Strapdown Inertial Navigation System On The Vehicle

With the wide application of strapdown inertial navigation system in vehicle position and orientation,its requirements for navigation accuracy also increases,it is an important method to improve the navigation accuracy by calibrating the error term and compensating it,the traditional discrete calibration can accurately calibrate the error item to a certain extent,but its dependence on turntable is very high.For the navigation equipment on the vehicle has a lot of limitations,therefore,the subject of this thesis is to study the system level calibration technology of strapdown inertial navigation system.First of all,strapdown inertial components(fiber optic gyroscopes and accelerometers)needs to be calibrated before installed on the vehicle,in the laboratory,the inertial assembly is usually calibrated by discrete calibration,it takes a long time,accuracy is also limited,and its dependence on turntable is very high,so in this paper,a set of full parameter(it contains all the main error items of sins)system level calibration scheme based on laboratory internal field is designed,The error term of gyro and accelerometer is calibrated by this design,the design is verified by simulation and experiment verification,and the accuracy of the design is verified successfully,finally,campare the effect of discrete calibration with system level calibration and the advantages of system level calibration are explained.Secondly,according to the vehicle in angular motion will cause the accelerometer error in the arm,the laboratory discrete calibration and the previous design of all parameters of system level calibration did not consider the arm of accelerometer,for the self-made navigation equipments is manufactured according to strict internal lever arm size,and it is compensated before calibration,for other soures of inertial navigation equipment may not have specific lever arm size specifications,so for the accelerometer in arm problem design a set of system level calibration scheme based on the laboratoryinternal field,it is used for the calibration of accelerometer in the arm length,and the design is verified by simulation and experiment verification.Then,compared with the above infield system level calibration,and research the vehicle borne outfield system level calibration,then design a free disassembly outfield system level calibration method for vehicle strapdown inertial navigation system,use to calibrate its zero bias,and complement each other with the above design,the paper makes a comprehensive study of the calibration problem,and the design is verified by simulation and experiment verification.Finally,comparison of the above vehicle SINS infield and outfield calibration technology,according to the shortcomings of single vehicle SINS,the scale factor error and installation error of odometer in SINS/OD integrated navigation system are introduced,and design a system level calibration scheme,use it to calibrate odometer scale factor error and installation error,and the design is verified by simulation and experiment verification.