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Midair aligning method for satellite/inertia combined navigation system

A technology of inertial combination and navigation system, applied in the field of initial attitude self-alignment and its simulation verification

Inactive Publication Date: 2008-09-03
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0010] The main purpose of the present invention is to solve the initial alignment problem of the strapdown inertial navigation system in the air flight of aircraft, missiles and other moving carriers, and to obtain the initial alignment without any restrictions on the flight dynamic process and flight stability. The position, velocity and attitude information of the

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  • Midair aligning method for satellite/inertia combined navigation system
  • Midair aligning method for satellite/inertia combined navigation system
  • Midair aligning method for satellite/inertia combined navigation system

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Embodiment Construction

[0053] In order to realize the aerial alignment of the satellite / inertial integrated navigation system of the aircraft in various flight states, work needs to be done:

[0054] (1) Acquisition of positioning data by star navigation receiver: the integrated navigation computer G Continuously read the navigation information in a specific format output by the satellite navigation receiver from the interface connected to the satellite navigation receiver, and interpret it to obtain the real-time three-dimensional position, three-dimensional velocity and track azimuth of the aircraft, where the three-dimensional position includes the longitude λ , latitude L and altitude H, eastward velocity V in the local geographic coordinate system E , East speed V N and the eastward velocity V U , track azimuth ψ ;

[0055] (2) Satellite navigation positioning data cache: read the three-dimensional position, three-dimensional velocity, track azimuth and time information output by the satelli...

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Abstract

The invention provides a GNSS / INS integrated navigation system in-flight alignment method, which belongs to the inertial navigation system. The alignment method includes the following steps: satellite navigation receiver locator acquisition; satellite navigation locator data caching; inertia measurement cell data acquisition; aircraft motion acceleration calculation; three dimension proportion calculation in navigation coordinate system; fast data solution of pitch angle and roll angle trigonometric equation; navigation parameter of strap-down inertial navigation system initialization and so on. The invention can realize the initial alignment in the air of strap-down inertial navigation system in carrier in flight, which solves the problem of fast alignment of strap-down inertial navigation system in flight in airplane, missile and other moving carriers.

Description

1. Technical field [0001] The invention belongs to the technical field of initial alignment of an inertial navigation system, in particular to the initial attitude self-alignment and its simulation verification technology under the condition of a motor base. 2. Background technology [0002] Initial alignment is a unique working state and process of inertial navigation system, and its function gives initial velocity, initial position, and initial attitude. It is relatively easy to set the initial velocity and initial position, and quickly obtain high-precision initial attitude is the key and difficult point of initial alignment. Usually, initial alignment mainly refers to attitude alignment. According to different alignment methods, attitude alignment is divided into self-alignment and transfer alignment based on main / sub inertial navigation information transfer. Attitude self-alignment is mainly carried out when the system is stationary, with the earth's gravity direction...

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Application Information

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IPC IPC(8): G01C21/16G01C25/00G01S1/02
Inventor 李荣冰刘建业孙永荣曾庆化赖际舟赵伟钱伟行
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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