The Technology Of Transfer Matching Calibration For Master-slave Inertial Navigation System

With the increasingly widespread application of inertial navigation technology in the fields of sea,land,air and sky,how to improve its using precision has become a hot spot in this field of research.Inertial measurement unit(IMU),as the core component of inertial navigation system,the accuracy of parameter identification directly affects the precision of inertial navigation equipment.After a certain period of time,the parameters of the error model will change a little while the inertial navigation equipment is working,resulting in the gradual decline of the system performance index,which cannot meet there quirements of the navigation accuracy of the inertial navigation equipment.Therefore,the IMU must be recalibrated.How to calibrate quickly and succinctly without relying on traditional high-precision three-axis turntable is the focus of this research.Therefore,the main research content of this subject is how to calibrate the Slave-INS using the high-precision Master INS.Thisresearch mainly include the following section:This paper first introduces calibration technology is one of the important ways to improve the precision of strapdown inertial navigation,and introduces the classification of calibration technology and the development status at home and abroad in detail.In view of the inconveniences of traditional discrete calibration technology and the high requirements on calibration equipment,this paper proposes a system-level calibration scheme based on principal inertial navigation using the Master INS equipment of the carrier to provide accurate navigation information.This subject starts with the calibration error model,and theoretically analyzes the influence of calibration error on the navigation accuracy of the system.The simulation results verify the theoretical results.This subject mainly studies a system-level calibration scheme based on Kalman filtering,which uses the Master inertial navigation system to calibrate the Slave-INS.The principle of the scheme is to use the navigation information(velocity,attitude,position)of the Master INS of the carrier as the true value of the navigation information of the Slave-INS device and to navigate the true value to the difference of the navigation information of the solitary navigation error,and take the navigation error as the subsystem's observation.The 12 error parameters of the inertial measurement unit are used as the state variables of the system,and the state variables are filtered and estimated by the Kalman filter.This topic starts with the calibration model in the Master-Slave inertial navigation passing calibration scheme,the gyroscope and accelerometer Kalman filter are respectively constructed,and the calibration paths of the two are deduced and designed,and the calibration scheme is verified by simulation.Due to the existence of the size effect of the accelerometer and the effect of the lever arm between the Master INS and the Slave INS,resulting in failure to obtain accurate measurements and resulting in calibration results contain larger errors.Therefore,by designing a suitable Kalman filter,the error parameters of the inner and outer arms which are extended to the system state variables can be estimated,and the influence of the inner and outer arms on the calibration of the inertial transmission of the Master-Slave INS can be eliminated by a reasonable algorithm.Finally,this paper will conduct the calibration of Master-Slave INS program in physical verification and discrete calibration results,the above calibration results will be put into navigation verification,and indicate that the subject of the design of the Master-Slave INS calibration technology is effective and high calibration calibration program by comparing the results of validation.