Ground speed testing methods suitable for optical fibre gyroscope strap-down inertial navigation system

A strapdown inertial navigation and fiber optic gyro technology, which is applied to Sagnac effect gyroscopes and navigation through speed/acceleration measurement, can solve the problems of the system's ground speed detection accuracy, etc., to reduce the amount of calculation and save money Resources, the effect of improving the output accuracy of ground speed

Inactive Publication Date: 2008-05-14
HARBIN ENG UNIV
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Problems solved by technology

[0004] In order to solve the problem that the rowing effect affects the system ground speed detection accuracy in a high dynamic environment or a high frequen

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  • Ground speed testing methods suitable for optical fibre gyroscope strap-down inertial navigation system
  • Ground speed testing methods suitable for optical fibre gyroscope strap-down inertial navigation system
  • Ground speed testing methods suitable for optical fibre gyroscope strap-down inertial navigation system

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Embodiment Construction

[0029] The ground speed detection method suitable for the fiber optic gyro strapdown inertial navigation system described in this embodiment, the specific steps are as follows:

[0030] Step 1, determining the position parameters of the carrier and the initial ground speed value through external equipment;

[0031] Step 2, the strapdown inertial navigation system performs initial alignment, and determines the initial attitude of the carrier relative to the navigation coordinate system n;

[0032] Step 3. Determine the ground speed update period H=t m -t m-1 , the ground speed update period H is equal to the rowing compensation period; H is set to N times the inertial sensor sampling period, and the N is an integer greater than 0;

[0033] Step 4. Collect the specific force signal f output by the quartz accelerometer and the angular velocity signal ω output by the fiber optic gyroscope, and calculate the projection Δv of the velocity increment of the carrier relative to the i...

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Abstract

A ground speed detecting method suitable for fiber top strap-down inertial navigation system relates to a rowing compensation process which solves the problem that the rowing effect brings influence to the ground speed detecting in a high dynamic environment or a high frequency bration environment. The invention respectively acquires the speed measuring increment and angle increment measured value of a carrier opposite to an inertial frame by a specific force signal and a palstance signal during the refresh cycle of the ground speed, and then acquires the speed rotating term; the speed increment of the carrier in the refresh cycle opposite to the inertial frame is calculated by the speed rotating term and the rowing compensation term and then the speed increment acquired is projected to a n frame of the inertial frame; the speed increment caused by the acceleration of gravity and the corriolis acceleration is calculated in the n frame of the inertial frame and finally the ground value is got by a basic equation calculation of the inertial navigation system. The invention is suitable for that the carrier is under a high frequency bration or high mobile situation.

Description

technical field [0001] The invention relates to a ground speed detection method of an optical fiber gyro strapdown inertial navigation system. Background technique [0002] In a strapdown inertial navigation system, two key calculations are included. One is to update the calculation of the attitude of the carrier, and the other is to update the calculation of the ground speed of the carrier (the speed value of the navigation coordinate system n relative to the earth coordinate system). In the attitude update calculation, if there is a situation where the carrier angular velocity vector rotates, a coning error will be introduced. In the calculation of updating the ground speed of the carrier, the situation is more complicated, because to obtain the ground speed information of the carrier, it is necessary to integrate the force signal in the navigation reference coordinate system. This integration process is usually divided into two steps: first, The specific force signal se...

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Application Information

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IPC IPC(8): G01C21/16G01C21/18G01C19/72
Inventor 孙枫奔粤阳高伟周广涛陈世同于强高洪涛
Owner HARBIN ENG UNIV
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