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Rotating strapdown system on-site proving method based on digital high-passing filtering

A high-pass filtering, on-site calibration technology, applied in the field of measurement, can solve the problem of not mentioning on-site calibration and so on

Inactive Publication Date: 2010-05-12
HARBIN ENG UNIV
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Problems solved by technology

[0005] Public reports related to the present invention in the CNKI library include: 1. "Influence of Horizontal Initial Alignment Error on the Accuracy of Rotating IMU Navigation System", this article mainly describes the impact of horizontal misalignment on the rotating strapdown inertial navigation system, wherein The article describes the single-axis and one-way rotation of the IMU, but does not mention the content of on-site calibration

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  • Rotating strapdown system on-site proving method based on digital high-passing filtering
  • Rotating strapdown system on-site proving method based on digital high-passing filtering
  • Rotating strapdown system on-site proving method based on digital high-passing filtering

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Embodiment Construction

[0098] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0099] (1) Utilize the global positioning system GPS to determine the initial position parameters of the carrier, and bind them into the navigation computer;

[0100] (2) After preheating, the fiber optic gyroscope strapdown inertial navigation system collects the data output by the fiber optic gyroscope and the quartz accelerometer;

[0101] (3) The IMU adopts an indexing scheme in which 8 rotation-stop sequences are one rotation cycle;

[0102] Sequence 1, IMU starts from point A and rotates 180° clockwise to reach position C, stop time T t ;Sequence 2, IMU starts from point C and rotates clockwise 90° to reach position D, stop time T t ;Sequence 3, IMU starts from point D and rotates 180°counterclockwise to reach position B, stop time T t ;Sequence 4, IMU starts from point B and rotates 90°counterclockwise to reach position A, stop time T t ;Sequence 5, IMU...

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Abstract

The invention provides a rotating strapdown system on-site proving method based on digital high-passing filtering, which comprises the steps: (1) determining an initial position parameter of a carrier by a GPS; (2) collecting data output by an optical fiber gyroscope and an acceleration meter, and processing the data; (3) rotating and stopping at four positions of a single axis of an inertia measurement unit; (4) analyzing biased observability degree of an inertia device by using a spectral condition number method; (5) filtering the Schuler period contained in velocity information of a navigation system by adopting an IIR high-passing digital filter; and (6) taking filtered velocity information as observed quantity, and estimating the deviation of the inertia device by adopting a Kalman filtering technique. When the carrier is in anchoring state, the adoption of the method can obtain higher on-site proving precision.

Description

technical field [0001] The invention relates to a measurement method, in particular to a digital high-pass filter-based on-site calibration method for a rotary strapdown system. Background technique [0002] Strapdown Inertial Navigation System (SINS) is to connect inertial components such as gyroscopes and accelerometers to the carrier. According to Newton’s laws of mechanics, the attitude, velocity, position and acceleration of the carrier can be obtained by processing the information collected by these inertial components. , angular velocity and angular acceleration and other full navigation information of fully autonomous navigation equipment. 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, no limitation of weather conditions, and no interference. It is a completely autonomous and all-weather navigation system. Has been widely used in av...

Claims

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Application Information

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IPC IPC(8): G01C25/00
Inventor 孙枫孙伟袁俊佳薛媛媛王武剑李国强
Owner HARBIN ENG UNIV
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