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Journal of Projectiles, Rockets, Missiles and Guidance >

2024 , Vol. 44 >Issue 5: 90 - 95

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2024.05.011

A System-level Calibration Method Considering the g-sensitivity for MIMU

  • YAN Gongmin 1 ,
  • PU Xingchao 1 ,
  • ZHANG Yachong 2 ,
  • WEN Zejing 1
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  • 1 School of Automation, Northwestern Polytechnical University, Xi’an 710072, Shaanxi, China
  • 2 AVIC Xi’an Flight Automatic Control Research Institude, Xi’an 710076, Shaanxi, China

Received date: 2024-07-23

  Online published: 2024-12-18

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Abstract

A MIMU system level calibration Kalman filter state space model is established to address the g-sensitivity of gyroscope drift and the inability to perform autonomous azimuth alignment due to large drift errors in micro electromechanical system inertial measurement unit (MIMU). Considering the influence of g-sensitivity error states, a rate of change of azimuth misalignment angle is added into its measurement equation to enhance the observability of g-sensitivity state estimation. It directly takes a rough initial azimuth angle as external input to perform navigation calculation, so as to reduce the influence of earth's rotational angular velocity and improve the accuracy of gyroscope drift estimation. Meanwhile, a complete system level calibration and transposition arrangement scheme is designed, in which gyroscope calibration and accelerometer calibration are interdependent and work together to complete MIMU system level calibration. It can effectively separate all 30 calibration parameters. To verify the results, a physical calibration experiment is conducted on a certain model of missile borne MIMU, its navigation calculations are performed using pre-and post calibration data. Comparing the navigation solution results, it shows that the navigation speed in all three directions decrease after calibration, and the calibration factor and zero bias calibration accuracy of the accelerometer are higher. Especially under a condition of the MIMU is rotated with multi axis and large angle, the navigation speed accuracy is better than 30 m/s within about 10 min, this verify that the accuracy of system level calibration is high.

Key words： strapdown inertial measurement unit; system-level calibration; g-sensitivity; rotation scheme arrangement

Cite this article

YAN Gongmin , PU Xingchao , ZHANG Yachong , WEN Zejing . A System-level Calibration Method Considering the g-sensitivity for MIMU[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2024 , 44(5) : 90 -95 . DOI: 10.15892/j.cnki.djzdxb.2024.05.011

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