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Single-shaft rotation-stop scheme-based mooring and drift estimating method

A scheme, single-axis technology, applied in the field of measurement, can solve the problems such as the modulation method and drift estimation method that have not been proposed

Inactive Publication Date: 2010-05-26
HARBIN ENG UNIV
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Problems solved by technology

But none of the modulation methods and drift estimation methods related to the present invention have been proposed

Method used

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  • Single-shaft rotation-stop scheme-based mooring and drift estimating method
  • Single-shaft rotation-stop scheme-based mooring and drift estimating method
  • Single-shaft rotation-stop scheme-based mooring and drift estimating method

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Embodiment Construction

[0080] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0081] (1) Determine the initial position parameters of the carrier through GPS, and bind them into the navigation computer;

[0082] (2) The strapdown inertial navigation system is preheated, and the data output by the fiber optic gyroscope and the quartz accelerometer are collected and processed;

[0083] (3) The IMU adopts an indexing scheme with 8 rotation-stop sequences as one rotation cycle (as shown in the attached figure 2 );

[0084] 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 s...

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Abstract

The invention provides a single-shaft rotation-stop scheme-based mooring and drift estimating method, which comprises the following steps: determining an initial position parameter through GPS; acquiring output of an optical fiber gyroscope and data output by and an accelerometer and processing the data; adopting 8 rotation-stop sequences as a transposition scheme of one rotation period by an IMU; performing real-time update on a strapdown matrix according to the output of the gyroscope under the rotation state of the IMU, and simultaneously performing coordinate conversion on acceleration information acquired under the rotation state of the IMU and converting the acceleration information to a mathematic platform coordinate system; establishing a Kalman drift estimation module of a separation position loop in a mooring state of a load according to a load moving base error model; and processing constant errors of inertial apparatuses obtained after Kalman filtering by an average filtering method to obtain a relatively stable estimated mean value. When the load is in a mooring state, the drift estimating method provided by the invention can accurately estimate the constant errors of the inertial apparatuses by the Kalman filtering technology.

Description

technical field [0001] The present invention relates to a measurement method, in particular to a method for estimating mooring drift based on a single-axis rotation-stop scheme. Background technique [0002] The strapdown inertial navigation system (SINS) is a completely autonomous navigation system. It uses gyroscopes and accelerometers to measure the angular motion and linear motion parameters of the carrier relative to the inertial space. Provide position, velocity and attitude information accurately. 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, which has been widely used. Used in aviation, aerospace, navigation and other fields. According to the basic principle of SINS, the existence of the constant value deviati...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/18
Inventor 孙枫孙伟薛媛媛袁俊佳李国强孙巧英
Owner HARBIN ENG UNIV
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