Strapdown system error inhibition method based on uniaxial four-position rotation and stop scheme

A system error and four-position technology, which is applied in the field of strapdown system error suppression based on the single-axis four-position turn-stop scheme, can solve problems such as the single-axis four-position turn-stop scheme, and achieve the effect of improving navigation and positioning accuracy

Inactive Publication Date: 2010-06-02
HARBIN ENG UNIV
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Problems solved by technology

3. "Research on New Alignment Method of Strapdown Inertial Navigation Base and Navigation Error Suppression Technology", this paper mainly introduces the error compensation principle of single-axis rotation modulation technology, but the article mentions single-axis continuous rotation, there is no Mention the single-axis four-position rotation-stop scheme proposed by the present invention

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  • Strapdown system error inhibition method based on uniaxial four-position rotation and stop scheme
  • Strapdown system error inhibition method based on uniaxial four-position rotation and stop scheme
  • Strapdown system error inhibition method based on uniaxial four-position rotation and stop scheme

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Embodiment Construction

[0073] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0074] (1) Utilize the global positioning system GPS to determine the initial position parameters of the carrier, and bind them into the navigation computer;

[0075] (2) After preheating, the fiber optic gyroscope strapdown inertial navigation system collects the data output by the fiber optic gyroscope and the quartz accelerometer;

[0076] (3) The IMU adopts an indexing scheme in which 8 rotation-stop sequences are one rotation cycle;

[0077] 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 strapdown system error inhibition method based on a uniaxial four-position rotation and stop scheme, which comprises the steps of: (1) determining an initial position parameter of a carrier through a GPS; (2) acquiring data output by an optical fiber gyroscope and output by an acceleration meter and processing the data; (3) positively and negatively rotating and stopping an inertia measuring unit (IMU) around four positions fixed by an azimuth axis of the carrier; (4) converting the data generated by the optical fiber gyroscope and the acceleration meter after rotating the IMU into a navigation coordinate system to obtain a demodulation mode of a constant offset of an inertia device; (5) updating a strapdown matrix Tsn by using an output value Omega iss of the optical fiber gyroscope; and (6) computing the speed and the position of the carrier after rotating and demodulating the IMU.

Description

technical field [0001] The invention relates to a measurement method, in particular to a strapdown system error suppression method based on a single-axis four-position rotation-stop scheme. Background technique [0002] In the strapdown inertial navigation system, all inertial components are directly installed on the carrier, and the output of the inertial components is the acceleration and angular velocity of the carrier relative to the inertial space. A computer transforms the data measured in the carrier coordinate system to the navigation coordinate system. Then carry out navigation calculation, which is equivalent to virtualizing a platform in the computer as a reference for navigation calculation. Due to the cancellation of the platform structure, the volume of the system is greatly reduced, and the cost and maintenance fee are also greatly reduced. [0003] The error of the inertial sensor is the main determinant of the error of the inertial navigation system. Impro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C21/18
Inventor 孙枫孙伟薛媛媛袁俊佳王根王武剑李国强
Owner HARBIN ENG UNIV
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