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Method for initial alignment of a single-axis rotation strap-down inertial navigation system (SINS)

A strapdown inertial navigation and initial alignment technology, applied in the field of surveying, can solve the problems of unobservable eastward gyro drift, difficulty in improving the observability of azimuth misalignment angle, etc.

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

[0005] The purpose of the present invention is to provide a single-axis rotation strapdown that can solve the problem that the eastward gyro drift cannot be observed in the geographic coordinate system when the carrier is stationary, which makes it difficult to improve the observability of the azimuth misalignment angle. Inertial Navigation System Initial Alignment Method

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  • Method for initial alignment of a single-axis rotation strap-down inertial navigation system (SINS)
  • Method for initial alignment of a single-axis rotation strap-down inertial navigation system (SINS)
  • Method for initial alignment of a single-axis rotation strap-down inertial navigation system (SINS)

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Embodiment Construction

[0076] The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing:

[0077] (1) Utilize the global positioning system GPS to determine the initial position parameters of the carrier, and bind them into the navigation computer;

[0078] (2) The fiber optic gyroscope strapdown inertial navigation system is preheated, and then the data output by the fiber optic gyroscope and the quartz accelerometer are collected;

[0079] (3) Process the collected data of the fiber optic gyroscope and quartz accelerometer, use the analytical method to complete the coarse alignment of the system, and initially determine the attitude information of the carrier;

[0080] Gravity vector g from accelerometer output and gyroscope output from earth rotation angular rate ω ie At this time, the attitude information of the carrier is preliminarily determined to complete the coarse alignment of the system, and the transformation matrix T between ...

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Abstract

The invention provides a method for initial alignment of a single-axis rotation strap-down inertial navigation system (SINS). The method comprises the following steps: building a carrier coordinate system and computing a transfer matrix between geographic coordinate systems on the basis of coarse alignment completed by collecting the information output by gyroscopes and accelerometers in the SINS with the carrier being in a static state; establishing Kalman filtering state equations with speed errors as the state variables and measurement equations with the speed errors as the measurement variables; and estimating the misalignment angles of the carrier by the Kalman filtering technique and feeding back to the SINS to complete the initial alignment of the SINS. The invention can overcome the influence on the estimation precision of the azimuth misalignment angles caused by the equivalent gyroscope drift of the geographic coordinate systems and improve the alignment precision.

Description

(1) Technical field [0001] The invention relates to a measurement method, in particular to a method for determining the initial attitude of a single-axis rotation strapdown inertial navigation system. (2) Background technology [0002] The rotary strapdown inertial navigation system is a completely autonomous navigation system, which uses gyroscopes and accelerometers to measure the linear motion and angular motion parameters of the inertial measurement unit (IMU) relative to the inertial space. The provided angle value of the IMU relative to the carrier is integrated by the computer to provide position, speed and attitude information continuously and in real time. Since the rotary strapdown inertial navigation system relies entirely on its own inertial components and does not rely on any external information to measure navigation parameters, it has the advantages of good concealment, no limitation of weather conditions, and no interference. It is a completely autonomous nav...

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Application Information

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IPC IPC(8): G01C21/16G01C25/00
Inventor 孙枫孙伟李国强薛媛媛奔粤阳高伟赵彦雷吕玉红李雪峰
Owner HARBIN ENG UNIV
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