Rapid fine alignment method for SINS

A strapdown inertial navigation and fast technology, which is applied in directions such as navigation through velocity/acceleration measurement, and can solve the problems of difficult self-alignment of heading, low observation of azimuth misalignment angle, and poor azimuth misalignment angle estimation effect.

Inactive Publication Date: 2008-07-09
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0004] For a low-cost strapdown inertial navigation system composed of a low-precision IMU, the low precision of the IMU makes it difficult to complete the self-alignment of the heading; This is an important reason restricting its alignment accuracy and rapidity, especially the low degree of observation of the azimuth misalignment angle, which leads to poor estimatio

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  • Rapid fine alignment method for SINS
  • Rapid fine alignment method for SINS
  • Rapid fine alignment method for SINS

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Embodiment Construction

[0098] The fine alignment system of the present invention is shown in Figure 1. The main purpose is to improve the observability and observability of the traditional fine alignment method using velocity error as the observation, and avoid the multi-position alignment in the existing literature. In view of the problems of practicability and operability of the alignment method, a fine alignment method with low cost, good practicability, high precision and short alignment time is proposed for the low-cost strapdown inertial navigation system. Heading alignment of the integrated inertial navigation system. In order to achieve this goal, the following work needs to be done:

[0099](1) Inertial Measurement Unit (referred to as IMU) signal collection step: collect the output signal of the IMU at a certain sampling rate to obtain the angular velocity and specific force information of the carrier;

[0100] (2) Strapdown inertial navigation system analytical coarse alignment steps

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Abstract

The invention relates to a rapid alignment method with high precision for a strap-down inertial navigation system, belonging to the alignment method for the strap-down inertial navigation system. The method comprises the following steps of: collecting an output signal from an inertia measurement component, and obtaining the angular velocity and the specific force information of a vehicle; performing coarse alignment by the strap-down inertial navigation system; performing calculation by the strap-down inertial navigation system; performing precise alignment by the strap-down inertial navigation system; filter outputting and correcting; and finishing the precise alignment. The invention can be used for improving alignment precision and rapidness of the low-cost strap-down inertial navigation system; realizes azimuth alignment; and has the advantages of high feasibility and operability, and low cost.

Description

1. Technical field [0001] The invention relates to a navigation technology of a low-cost strapdown inertial navigation system, in particular to a fast and precise alignment method of a low-cost strapdown inertial navigation system. 2. Background technology [0002] The Strapdown Inertial Navigation System (SINS for short) is based on Newton’s law of relative inertial space mechanics, using the inertial measurement unit (IMU for short) to feel the angular velocity and acceleration of the carrier, and obtain the attitude, Navigation parameters such as speed and position. As the core component of the strapdown inertial navigation system, the IMU consists of three gyroscopes and three accelerometers whose sensitive axes are orthogonal to each other, and its performance and cost are closely related. In recent years, using low-cost solid-state IMUs to realize medium and high-performance strapdown inertial navigation systems and integrated navigation systems has gradually become t...

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Application Information

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IPC IPC(8): G01C21/16
Inventor 祝燕华刘建业赵伟赖际舟钱伟行李荣冰曾庆化曹华郑智明
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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