Rapid fine alignment method for SINS

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...

AI Technical Summary

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 estimation of the azimuth misalignment angle

The conventional idea in the existing literature is to use a precise position turntable to provide a position reference for multi-position alignment to improve the observability and observability of the system. However, this method needs to be carried out on a precise position turntable and cannot be used in engineering applications.

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