Optical fibre gyro strapdown inertial navigation system error inhibiting method based on single-shaft rotation

A strapdown inertial navigation and fiber optic gyroscope technology is used in navigation, measurement devices, instruments, etc. through velocity/acceleration measurement. The effect of precision

Inactive Publication Date: 2009-08-26
HARBIN ENG UNIV
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Problems solved by technology

[0005] Single-axis rotation can only compensate for the constant value deviation of inertial devices in the directions of two sensitive axes; although dual-axis rotation can compensate for the constant valu

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  • Optical fibre gyro strapdown inertial navigation system error inhibiting method based on single-shaft rotation
  • Optical fibre gyro strapdown inertial navigation system error inhibiting method based on single-shaft rotation
  • Optical fibre gyro strapdown inertial navigation system error inhibiting method based on single-shaft rotation

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Embodiment Construction

[0078] The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing:

[0079] (1) Use the global positioning system (GPS) to determine the initial position parameters (including longitude and latitude) of the carrier, and bind them to the navigation computer.

[0080] (2) The fiber optic gyroscope strapdown inertial navigation system collects the output data of the fiber optic gyroscope and quartz accelerometer after warming up. Among them, the constant value drift of the three gyroscopes is equal, and the zero position deviation of the three accelerometers is equal. According to the relationship between the output of the accelerometer and the acceleration of gravity and the relationship between the output of the gyroscope and the angular rate of the earth's rotation, the attitude information of the carrier at this time (pitch angle θ, roll angle γ and heading angle ψ) is initially determined to complete the initial ali...

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Abstract

The invention provides an optical fibre gyro strapdown inertial navigation system error inhibiting method based on single-shaft rotation. The initial position parameters of a carrier are confirmed; the data outputted by an optical fibre gyroscope and a quartz accelerometer are collected; the pose information of the carrier is confirmed by the relation between the output of the accelerometer and an acceleration of gravity as well as the relation between the output of the gyroscope and the earth rotation rate; and the initial aligning of the system is finished; an inertial measuring unit coordinate system rotates by 45 degrees along the front direction of the shaft oyb of a carrier coordinate system and the initial opposite position between the two coordinate systems is confirmed; IMU continuously rotates along the front direction of the orientation shaft ozb of the carrier coordinate system by an angular velocity that Omega is equal to 6 degrees/s. The data generated by the optical fibre gyroscope and the quartz accelerometer after the rotation of the IMU is converted under the carrier coordinate system to obtain the modulating form of the constant deviation of an inertial apparatus. The output vale Omega ib of the optical fibre gyroscope is used to update a strapdown matrix Tb; the speed and the position of the carrier after the IMU is rotated and modulated are calculated. The invention modulates the constant deviation of the inertial device on the directions of three shafts to improve the navigation and location precisions.

Description

(1) Technical field [0001] The present invention relates to an error suppression method, in particular to an error suppression method of a fiber optic gyro strapdown inertial navigation system based on single-axis rotation. (2) Background technology [0002] The strapdown inertial navigation system SINS is a completely autonomous navigation system that uses gyroscopes and accelerometers to measure the linear and angular motion parameters of the carrier relative to the inertial space. Under given initial conditions, the computer performs integral calculations continuously and in real time. Provide position, speed and attitude information. Since SINS completely relies on its own inertial components and does not rely on any external information to measure navigation parameters, it has the advantages of good concealment, is not subject to climate conditions, and is not subject to interference. It is a completely autonomous, all-weather navigation system. It has been widely used...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C25/00
Inventor 孙枫孙伟张鑫高伟奔粤阳柴永利王文静孙巧英李国强赵彦雷
Owner HARBIN ENG UNIV
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