Temperature compensation method for strapdown inertial navigation systems

摘要

The invention is a method continuing over a plurality of time periods for compensating for the output error in each of one or more navigation instruments in a system comprising a plurality of navigation instruments after the system is introduced into its operating environment. The practice of the method begins with determining the values of one or more of a set of coordinates that specify the position, velocity, and orientation of the system in space together with the error in a compensated output for each of the one or more navigation instruments. The method continues with determining a compensation model for each of the one or more navigation instruments. A compensation model specifies for a current time period an adjustment in amplitude of the output of a navigation instrument as a function of time and temperature. A compensation model is expressed as the sum of a first compensation model and a present second compensation model where the present second compensation model is a future second compensation model determined during the prior time period. The final steps of the method consist of measuring the time and the temperature of the navigation instruments and then obtaining a compensated output for each of the one or more navigation instruments by adjusting the output of a navigation instrument in accordance with its compensation model.