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Strapdown inertial navigation method of dual quaternion based on frequency domain analysis method

A dual quaternion and frequency domain analysis technology, applied in the field of inertial navigation, can solve the problems of not being able to fully compensate for various errors in carrier motion, and achieve the effects of making up for the lack of accuracy, improving overall accuracy, and reducing overall costs

Inactive Publication Date: 2010-09-08
SOUTHEAST UNIV
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Problems solved by technology

[0004] The technical solution problem of the present invention is: the present invention is designed for the problem that the traditional time-domain strapdown inertial navigation algorithm cannot fully compensate various errors of the carrier motion due to the polynomial fitting of the angular velocity and specific force of the carrier. To improve the accuracy of the strapdown inertial navigation system in a high dynamic environment, combined with the characteristics of high precision of the existing dual quaternion strapdown inertial navigation algorithm in the time domain, a dual quaternion strapdown inertial navigation algorithm based on frequency domain analysis method is proposed. Guide algorithm, suitable for medium and high-precision navigation systems, positioning and orientation systems, etc.

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  • Strapdown inertial navigation method of dual quaternion based on frequency domain analysis method

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[0030] The implementation process of the dual quaternion strapdown inertial navigation method based on the frequency domain analysis method of the present invention is as follows figure 1 As shown, it mainly includes the following six steps:

[0031] (1) Solve dual quaternions in the frequency domain Kinematics equation and find the thrust velocity

[0032] Such as figure 2 As shown, first of all IB B (t n ), Δv B (t n ) For smooth extension (provided that The compensation signal represents Δθ IB B (t n ), Δv B (t n ) Of the compensation signal, where Means t n Dual quaternion Means The angular increment and velocity increment signal output by the inertial navigation device at time); then the discrete Fourier transform is performed on the obtained angular increment and velocity increment signal to obtain Δθ IB B (t n ), Δv B (t n ) Spectral amplitude And according to the corresponding relationship between angular velocity and angular increment, acceleration and velocity ...

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Abstract

The invention discloses a strapdown inertial navigation method of dual quaternion based on a frequency domain analysis method. The invention is designed aiming at the following problem: various errors of carrier movement can not be fully compensated because of polynomial fitting of the angular velocity and the specific force of the carrier in the traditional time-domain strapdown inertial navigation algorithm. The principle of the invention is as follows: carrying out smooth continuation and discrete Fourier transform on the increment signal output by an inertial navigation device and the navigation information obtained in the solving process by utilizing the frequency domain analysis method, then solving the spectrum signal obtained through transform by utilizing the strapdown inertial navigation algorithm of dual quaternion realized in the frequency domain and finally carrying out inverse Fourier transform on the signal obtained by solving to obtain the navigation solution in the time domain. Compared with the existing time-domain strapdown inertial navigation methods of dual quaternion, the method is characterized by taking full advantage of the information of the signal output by the inertial navigation device in each frequency range and having higher precision under high dynamic environment.

Description

Technical field [0001] The invention belongs to the technical field of inertial navigation and relates to a strapdown inertial navigation algorithm, in particular to a dual quaternion strapdown inertial navigation algorithm based on a frequency domain analysis method, which is suitable for medium and high precision navigation systems and positioning in a high dynamic environment , Orientation system, etc. Background technique [0002] Since the concept of strapdown inertial navigation system was put forward in the late 1950s, after more than 50 years of development, strapdown inertial navigation system has been widely used in many fields of military and civilian use, but there are still some areas in terms of accuracy and reliability. Quite a few questions. In general, the improvement of strapdown inertial navigation system performance mainly depends on two aspects: high-precision inertial navigation devices and ideal navigation algorithms. In the past 20 years, the development...

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
Inventor 陈熙源陈建锋方琳申冲祝雪芬
Owner SOUTHEAST UNIV
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