Research On Self-calibration And Alignment Technology For High Accuracy Inertial Platform

In this thesis, A new method of self-calibration of the rotation platform is introduced, and some formulas are given. By this way, the calibration of the rotation platform will depend only on the feature of platform itself, instead of any other rotator. This method can give great help to the test and use of the platform.First, relation between errors of inertial platform and gyro errors when the platform was stillness was discussed. Correlative coordinates were defined. Later, error models were given. Outputs of Inertial units were determined thorough the coordinates transform.Theory of self-calibration of platform was enucleated. Process of self-calibration of platform discussed in this thesis was given. Observability of Multi- position error calibration was studied, then calibrate the errors of the platform.In this paper, an integral scheme of 16 position error calibration and autonomous alignment for three axis platform is given. It may calibrate 33 errors in all. First, determine parameters with Least square estimate, then Bayes method, Ridge regression estimation were discussed separately. Simulation results indicate the algorithm and simulation platform were available.At the last of this thesis, some methods of optimal rotation design were discussed, four methods of optimal design were analyzed under the Least Square Estimate. By that mean, experiment can acquire enough error parameters in the calibration time given before.