Calibration Methods For Inertial Navigation Platform On Precision Centrifuge Without Counter-ratating Platform

The system-level test of calibration technology for the inertial navigation platform directly affects the accuracy of the navigation system,and the testing of the platform under high overload conditions is attracting more and more attention.The purpose of the centrifuge test for the inertial navigation platform is to motivate sufficient excitation for the high-order error terms of the inertial navigation platform,which lays a foundation for accurately calibrating error model coefficients of the inertial navigation platform and makes a contribution to improving the precision of the inertial navigation system.Therefore,researches are conducted on system modeling,error coefficient identification methods,and identification effects in order to make contributions for the actual calibration of the inertial navigation platforms under high overload conditions.The main contents of this dissertation are as follows:The working principle and structure of the inertial navigation platform is expounded.The influence of the error of the centrifuge on the calibration accuracy of the error model coefficients is analyzed.After considering the impact of the source of error in the centrifuge and error sources of the inertial platform,a series of coordinate systems were established by homogeneous transformation.The calculation formulae of the input force and angular velocity of the inertial navigation platform are taking into account these error sources.The movement is simulated according to the actual parameters and analyze the force and movement of the inertial platform tested on the centrifuge.With the state variables of the error calibration,the state equations and the observation equations of the error model defined,the establishment of a test model for an inertial navigation platform is completed on a centrifuge without a reversal platform.With two methods to identify the established system nonlinear model,One is using a static identification method combining harmonic analysis and least squares to calibrate,the other is using Extended Kalman Filter to identify.Simulation identification results show that both methods are effective for high-order error parameter identification of centrifuge test for the inertial navigation platform.