Optical fiber gyroscope strap-down inertial navigation system initial posture determination method
A fiber optic gyroscope and strapdown inertial navigation technology, which is applied in the directions of navigation, measurement devices, and instruments through velocity/acceleration measurement, and can solve problems such as increased estimation time, failure of horizontal drift measurement, and unfavorable rapidity.
Inactive Publication Date: 2009-09-16
HARBIN ENG UNIV
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However, this ordinary Kalman filtering method also has defects: when there are many system state variables, the calculation of the filter estimation algorithm is very large, especially in the case of augmented vectors, each additional state variable will make The amount of calculation is greatly increased, which is not conducive to the requirement of rapid initial alignment; in the process of estimating inertial device errors (mainly optical fiber gyro drift measurement), due to the long estimation time of azimuth gyro drift, it is necessary to accurately measure The estimation time must be greatly increased. At this time, the Kalman filter becomes unstable or even begins to diverge, resulting in the failure of horizontal drift measurement and the attitude angle also begins to diverge.
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Embodiment 1
[0126] (1) After warming up, the fiber optic gyroscope strapdown inertial navigation system continuously collects the output data of the fiber optic gyroscope and quartz flexible accelerometer, and processes the collected data of the gyroscope and accelerometer, using second-order leveling and orientation estimation The rough alignment of the strapdown inertial navigation system is completed by the method, and the attitude information of the hull (pitch angle θ, roll angle γ and heading angle ψ) is determined at this time.
[0127](2) After the rough alignment is completed, enter the stage of fine alignment. First, continue to collect the data output by the fiber optic gyroscope and accelerometer, and use the standard quaternion method to perform navigation calculations to obtain the calculated speed, attitude, position and other related information of the hull; at the same time, through the Doppler log or GPS The velocity information of the hull is measured, and this velocity...
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The invention discloses a determined method for an initial gesture on the basis of Doppler optical fiber gyro strapdown inertial navigation system, which comprises continuously collecting data which is output by an optical fiber gyro and a quartz flexible accelerometer after being preheated, processing the data of the gyroscope and the accelerometer which are collected, finishing a rough alignment of the strapdown inertial navigation system, entering into an extractive alignment after the rough alignment is finished, establishing a dynamic base error equation of a marine strapdown inertial navigation system, employing an optimal control filtering theory to design an electric filter, and doing a filtering estimation, extracting information of ship hull gesture misalignment angle to correct the ship hull gesture when a combined extractive alignment is finished, finishing extractive initial alignment, simultaneously obtaining shift estimated value of the gyroscope, and realizing a drift course of the initial alignment. The method of the invention can realize accurate estimation to a zero drift of the optical fiber gyro when the requirement of accuracy and rapidity is guaranteed.
Description
(1) Technical field [0001] The present invention relates to an initial alignment technology of a strapdown inertial navigation system, in particular to a combined initial alignment based on a marine optical fiber gyro strapdown inertial navigation system and another navigation system that can independently and accurately provide ship speed information standard method. (2) Background technology [0002] The initial alignment error is one of the main error sources of the inertial navigation system. The impact of the initial alignment error on the system error is not only manifested in the attitude index, but also in the acquisition of velocity and position information. Alignment accuracy directly affects navigation accuracy. Therefore, the initial alignment process must first be completed before normal navigation. [0003] Strapdown inertial navigation is a relatively popular technology in navigation technology now. Because of its low cost, it has been favored by more and mo...
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IPC IPC(8): G01C25/00G01C21/18H03H17/02
Inventor郝燕玲周广涛陈明辉高伟徐博高洪涛于强陈世同吴磊程建华
OwnerHARBIN ENG UNIV