Research On High Precision Attitude Sensor Testing And Calibration System For Artillery Aiming

Inertial navigation technology is a navigation technique that uses inertial sensors to measure acceleration and angular velocity to determine navigation position,direction,and speed.Inertial navigation technology does not rely on satellite signals or ground-based information for navigation and positioning,and can meet the accuracy and real-time requirements of navigation and measurement.It has been widely used in aviation,marine,land,and aerospace fields.This project is aimed at the testing and calibration of a self-developed high-precision attitude sensor at our university.The attitude sensor is used for artillery aiming and requires higher measurement accuracy than general inertial navigation systems.A high-precision testing and calibration system has been designed to solve this calibration problem.This article constructs a complete set of attitude sensor testing and calibration solutions by studying the basic principles of relevant sensors,error sources,and calibration methods of attitude sensors.An electromechanical platform consisting of a pendulum platform,a turntable,and a theodolite platform has been designed,and its relevant motion model has been established.Its accuracy has also been theoretically verified.Based on the analysis of attitude sensor error types and their characteristics,screening solutions for gross errors have been proposed separately.An accelerometer error model,gyroscope error model,and inclinometer error model have been established.A random error identification scheme has been proposed by deeply studying the law of random error,and a random error model and filtering method have been established.The effects of the environment on the sensor have been studied,and accelerometer calibration,gyroscope calibration,and inclinometer calibration schemes have been proposed using vector and least squares methods respectively.Through in-depth research on the control methods of stepper motors and the impact of scurve acceleration and deceleration control on the system.Proposed the use of an improved Sshaped curve acceleration and deceleration strategy to control the turntable motor,and the use of trapezoidal curves to control the theodolite motor and turntable leveling.A single pendulum energy loss compensation scheme based on electromagnets was established by studying the energy loss of the single pendulum system.In order to verify the accuracy of the system,this article finally designed theodolite detection experiments,turntable accuracy verification experiments,and turntable speed stability experiments for the accuracy of the theodolite platform.Design testing and calibration experiments for attitude sensors to verify the stability of the entire system.This article has undergone preliminary theoretical preparation,overall system design,control scheme design,error modeling,and calibration scheme design.Finally,accuracy has been verified through experiments,forming a complete set of closed-loop design verification schemes.According to the final experiment,the testing and calibration system described in this article is sufficient to meet the testing requirements of attitude sensors and can be used for the testing and calibration of attitude sensors.