Rapid measurement method of initial attitude of gyro free strap down inertial navigation system
A technology of initial attitude and measurement method, which is applied in directions such as navigation through speed/acceleration measurement, which can solve problems such as difficulty in realization, large dynamic range, and long start-up time, and achieve the effect of improving rapid response ability and ensuring rapid response speed
Inactive Publication Date: 2011-11-16
HARBIN ENG UNIV
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[0006] 3. Large dynamic range: For strapdown inertial navigation systems with gyro, the gyro is directly installed on the carrier. In the high maneuvering state, the gyro is required to have a large dynamic measurement range, which is difficult to realize in engineering
[0007] 4. Fast response: Whether it is a mechanical gyroscope or an optical gyroscope, it takes a long time to start from start to normal work, so the response is slow
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[0070] The present invention is described in more detail below in conjunction with accompanying drawing example:
[0071] In this embodiment, the gyro-less strapdown inertial navigation system on the low-cost unmanned aerial vehicle is used as the sub-inertial navigation system, and the strapdown inertial navigation system on the low-cost unmanned aerial vehicle loading mechanism is used as the main inertial navigation system. The specific implementation steps of initial attitude rapid measurement are as follows:
[0072] Step 1, connect the gyro-less strapdown inertial navigation system on the low-cost unmanned aerial vehicle with the strapdown inertial navigation system on the high-precision low-cost unmanned aerial vehicle loading mechanism through a data transmission cable, so that the sub-inertial navigation system and the main inertial navigation system Navigation information data transmission between guides is smooth.
[0073] Step 2. Warm up the gyro-less strapdown in...
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The invention provides a rapid measurement method of initial attitude of a gyro free strap down inertial navigation system. The gyro free strap down inertial navigation system on a low-cost unmanned aerial vehicle is used as a sub inertial navigation system, and a strap down inertial navigation system on a low-cost unmanned aerial vehicle loading mechanism is used as a main initial navigation system. The measurement method comprises the following steps: filtering by using the gyro free strap down inertial navigation system, evaluating horizontal installation variation of the main inertia navigation system and the sub inertial navigation system, and performing the matching measurement to the horizontal installation variation of the main inertia navigation system and the sub inertial navigation system by using output information of accelerometer in the gyro free strap down inertial navigation system. The invention can rapidly measure the initial attitude of the low-cost unmanned aerial vehicle, thereby improving the rapid response capacity of the low-cost unmanned aerial vehicle, and having practical value. The invention is suitable to a medium precision strap down inertia navigation system and a high precision gyro free strap down inertia navigation system which are installed in the low-cost unmanned aerial vehicle.
Description
(1) Technical field [0001] The invention provides a fast initial attitude measurement method of a strapdown inertial navigation system without a gyro. (2) Background technology [0002] The strapdown inertial navigation system generally uses the accelerometer to be sensitive to the linear acceleration, and the gyroscope to be sensitive to the angular velocity of the carrier. However, the mechanical gyroscope has the weakness of poor impact resistance, so it cannot be applied to low-cost unmanned aerial vehicles, which have large overload and large angular acceleration. Optical gyroscopes (optical gyroscopes and laser gyroscopes) have a large dynamic range, but the equipment of the optical gyro SINS will increase the manufacturing cost of low-cost UAVs and reduce the reliability of the SINS. The gyro-less strapdown inertial navigation system uses an accelerometer instead of a gyroscope, and calculates the angular velocity of the carrier from the specific force measured by th...
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IPC IPC(8): G01C21/16
Inventor 于飞奔粤阳高伟孙枫周广涛李倩
Owner HARBIN ENG UNIV