Research On Calibration Method Of Inertial Navigation System Error Parameters In Mooring State

The Laser Gyro Strapdown Inertial Navigation System is a relatively mature inertial navigation system with the advantages of high precision and high reliability.However,the long-term operation of the SINS will lead to change of parameters which may reduce the system accuracy.The system-level calibration method is one of the main ways to calibrate the inertial navigation error parameters and perform corresponding error compensation.In view of the fact that the commonly used system-level calibration of the inertial navigation error parameters is a static constant temperature calibration in the laboratory,It is unable to meet the practical needs of calibration parameters when the ship is at the sea.Based on this,this paper carries out the research on the calibration of inertial navigation error parameters in mooring state.The main contents are as follows:1.A 33-dimensional Kalman filter inertial navigation parameter error model is established.The paper deduces the equations of velocity,attitude and position error equation based on the update equation of inertial navigation.The paper deduces the models of velocity and attitude error,and constructs a 33-dimensional Kalman filter equation for the calibration of inertial navigation error parameters without taking the position error into account.2.The calibration simulation and experiment of temperature-variable inertial navigation error parameters are carried out for the calibration under static conditions in the laboratory.The paper proposes a 19-position rotation calibration scheme for a dualaxis system to calibrate the inertial navigation error parameters of loading linear increments and linear and sinusoidal double increments.Based on the simulation,experiments under the condition of temperature change are carried out and the results show that,the inertial navigation error parameters can be effectively calibrated.In this paper,a laboratory static inertial navigation error parameter temperature compensation model is constructed based on the calibration experimental results and the real-time compensation of the inertial navigation error parameters at each temperature point under the condition of temperature change is realized.3.The calibration simulation is carried out for the error parameters in the mooring state.Combined with the ship rocking data of the real ship,the paper uses the 19-position rotation calibration scheme to simulate the calibration of the inertial navigation error parameters in the mooring state,and the simulation results are in line with the actual situation.Based on the simulation,the hardware-in-the-loop simulation of inertial navigation error parameters in mooring state which uses the experimental platform is carried out.The simulation results prove that the inertial navigation error parameters in mooring state can be effectively calibrated compared with the laboratory static calibration results.