Ship optical fiber gyroscope strapping system initial posture determination method

Abstract

The invention discloses a definition method for an initial gesture of a marine optical fiber gyro strapdown system, comprises first, preparing preheat for a SINS, second, adjusting the SINS to enter into a rough alignment period for an initial alignment after the preheating preparation of the SINS is finished, collecting a marine gyroscope output and an accelerometer output, calculating three error misalignment angle phi xn, phi yn, and phi zn between a geographic coordinate system and a real geographic coordinate system through a rough initial strapdown gesture matrix which is obtained after the rough alignment is finished, entering into an extractive alignment when the three error misalignment angle are less than 10 degree, if not, the rough alignment is need to be renewed, third, the extractive alignment, continuously collecting the marine gyroscope output and the accelerometer output on the basis of the rough alignment, adopting an optimal control technique of a linear quadratic form LQ, and obtaining optimal correcting controlling angle speed which is needed in the process of the extractive alignment. The invention seeks a tradeoff between time and aligning accuracy, the aligning accuracy of an initial gesture resolving proposal is equal to a traditional proposal, but aligning time and convergence speed are greatly increased.

Description

(1) Technical field [0001] The invention relates to a measurement method, in particular to a technique for determining an initial attitude of a strapdown attitude system. (2) Background technology [0002] Strapdown Inertial Navigation System SINS is an autonomous navigation system, which uses Newton's second law to perform integral calculations on the basis of initial information, and can provide position, speed and attitude information continuously and in real time, with good concealment and no interference And other advantages, widely used in military weapon systems. The acquisition of initial information is a very critical part of the whole system, how to quickly and accurately obtain initial information is a very important issue in the field of inertial navigation. [0003] The initial attitude determination process of the strapdown inertial navigation system includes coarse alignment and fine alignment stages; the initial attitude determination requirements include tw...

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Problems solved by technology

[0003] The initial attitude determination process of the strapdown inertial navigation system includes coarse alignment and fine alignment stages; the initial attitude determination requirements include two aspects: accuracy and rapidity, but these two aspects are very difficult to coordinate. to get the best alignment accuracy within? The traditional fine alignment method can basically meet the requirements in terms of accuracy, but the alignment time generally takes 4 to 5 minutes, or even more, which will be a fatal weakness for those ship weapon navigation systems that require rapidity

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