Damping method of fiber option gyroscope (FOG) strap-down inertial navigation system

A strapdown inertial navigation and fiber optic gyroscope technology, which is used in navigation calculation tools, navigation through speed/acceleration measurement, etc., can solve the problem of inability to eliminate the error oscillation of the speed and position of the inertial navigation system.

Inactive Publication Date: 2010-04-21
HARBIN ENG UNIV
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In the "Fuzzy Adaptive Filtering Algorithm for Internal Damping of Heading Attitude System" in Volume 39, Number 2, "Journal of Nanjing University of Aeronautics and Astronau...

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  • Damping method of fiber option gyroscope (FOG) strap-down inertial navigation system
  • Damping method of fiber option gyroscope (FOG) strap-down inertial navigation system
  • Damping method of fiber option gyroscope (FOG) strap-down inertial navigation system

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Embodiment Construction

[0056] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0057] combine figure 1, the damping technical solution that can independently eliminate the inherent vibration of the strapdown inertial navigation system is as follows:

[0058] Step 1. Obtain the initial pose of the carrier through initial alignment.

[0059] Step 2. The angular velocity input on the carrier coordinate system is measured by the fiber optic gyroscope, and the acceleration input on the carrier coordinate system is measured by the accelerometer.

[0060] The resulting angular velocity is ω ib b = ω ibx b ω iby b ω ...

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Abstract

The invention provides a damping method of a fiber option gyroscope (FOG) strap-down inertial navigation system, mainly comprising the following steps: acquiring the initial attitude of a carrier by initial alignment; measuring angular velocity input and acceleration input on a carrier coordinate system; calculating an initial attitude matrix; converting carrier-system acceleration output into platform-system acceleration; acquiring all current velocity and angular velocity values; conducting horizontal damping on velocity information; calculating the attitude angular velocity of the carrier to a mathematics platform system; updating the current attitude matrix with quaternion numbers; outputting a carrier attitude angel; and entering the next time cycle. The invention adds suitable horizontal damping in a velocity information position of a horizontal loop of the system to eliminate the Shura periodic oscillation and the Foucault periodic oscillation of the system and adds a suitable directional damping network in an earth angular velocity input information position to eliminate the earth 24-hour periodic oscillation of the system, thereby improving the accuracy of a ship strap-down inertial navigation system.

Description

(1) Technical field [0001] The present invention relates to a method for eliminating the oscillation error of the fiber optic gyro strapdown inertial navigation system, specifically adding an adjustment network at a specific position of the strapdown inertial navigation system to change the error oscillation characteristics of the strapdown inertial navigation system, A method to eliminate three periodic oscillation errors of the system. (2) Background technology [0002] Inertial navigation system is an autonomous navigation and positioning system with gyroscope and angular velocity meter as its measuring components. Due to its high measurement accuracy, real-time performance, and no need for any external information during the measurement process, it has strong autonomy and is widely used. And aerospace, navigation and other aspects. Its basic principle is mainly to use the acceleration of gravity and the earth's rotational speed information for navigation, and use the Sh...

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
Inventor 高伟张义徐博奔粤阳张鑫李仔冰龚晶王武剑柴永利付建楠
Owner HARBIN ENG UNIV
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