Research Of SIMU Calibration Based On Low-precision Table

The research and development of a new generation of high-precision inertial navigation system based on fiber optic gyroscope has become more and more mature,which is the focus of current inertial navigation system.In this paper,based on the self-developed optical fiber inertial navigation equipment,The calibration in system level method is intended to minimize the research costs associated with high-precision tables.At present,the use of high-precision table is relatively easy to achieve the calibration of inertial devices,but high-precision table is expensive,high cost,for some research institutions is a burden,so how to use low-precision table calibration becomes necessary.Now,many of them are discrete calibration method.However,this method takes a long time and has a poor real-time performance.So,in this paper,we try to study a system calibration method based on low accuracy table with navigation error as observer.This paper focuses on the influence of table error on calibration results,the principle of system-level calibration method,the establishment and separation of calibration error model,the main work is as followsFirstly,the development and research background and significance of SINS and its calibration method are introduced.Through the analysis of the development of calibration methods at home and abroad,found problems,and for the actual application of the conditions of the corresponding calibration method.Secondly,the principle of the inertial device and its mathematical model are introduced,and the influence of the important technology in inertial navigation system on the system performance is discussed.The main sources of error in inertial navigation system and its influence on the system performance are analyzed.At last,The inertial device calibration model is determined and the method of solving the calibration parameters by the model is analyzed.Thirdly,the factors influencing the accuracy of the calibration results are introduced.The reasons for the influence of these factors on the accuracy are analyzed.The main error of the test turntable is introduced and the error model of the table is established.At last,the rough calibration of the inertial measurement unit is carried out,and the coarse calibration parameters are obtained by MATLAB simulation.Then,the calibration error model is established according to the calibration error model,and the calibration error is established.According to the measurement model,the operating path of the table is designed,the parameters are separated,the experimental data are collected,and the program is programmed to process the data to calculate the rough calibration value error.Then,the error of the calibration value is calculated.To get the exact value of each calibration parameter.