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Volume 24 Issue 3
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2016  >  24(3): 194-199
CAO Ya-li, ZHANG Fu-bin. Effects of Two-axis Turntable Position Errors on Accelerometer Calibration Accuracy[J]. Journal of Unmanned Undersea Systems, 2016, 24(3): 194-199. doi: 10.11993/j.issn.1673-1948.2016.03.007
Citation: CAO Ya-li, ZHANG Fu-bin. Effects of Two-axis Turntable Position Errors on Accelerometer Calibration Accuracy[J]. Journal of Unmanned Undersea Systems, 2016, 24(3): 194-199. doi: 10.11993/j.issn.1673-1948.2016.03.007
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Effects of Two-axis Turntable Position Errors on Accelerometer Calibration Accuracy

doi: 10.11993/j.issn.1673-1948.2016.03.007

  • School of Marine Science and Technology, Northwestern Polytechnical University, Xi′an 710072, China

  • Received Date: 2016-03-18
  • Rev Recd Date: 2016-05-25
  • Publish Date: 2016-06-20
    Abstract
  • The accuracy of a strapdown inertial navigation system(SINS) directly determines the underwater navigation accuracy of an autonomous underwater vehicle(AUV). In this paper, the two-axis turntable position errors(including hori-zontal installation error, gradienter leveling error, non-orthogonal installation error, etc.) were analyzed, and the turntable errors were defined directly in the turntable coordinate system. According to the existing of inertial device error model, six ideal position calibration paths were selected, real projection value of acceleration of gravity in the coordinate system was obtained, the calibration process with turntable error was derived by using analytic method(without considering the relationship between the errors), and calibration error estimation of parameter was accomplished through reasonable design of calibration path and effective mathematical algorithm. Simulation calibration results show that the proposed calibration method is feasible in a short time, and the calibration error parameter value is within the reasonable error range, which proves the correctness of the proposed calibration path scheduling algorithm.

     

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