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

A dual quaternion, frequency domain analysis technology, applied in the field of inertial navigation, can solve the problem of not fully compensating for various errors of the carrier motion, and achieve the effect of making up for the lack of accuracy, reducing the overall cost and improving the overall accuracy.

Inactive Publication Date: 2012-02-01
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
  • Strapdown inertial navigation method of dual quaternion based on frequency domain analysis method
  • Strapdown inertial navigation method of dual quaternion based on frequency domain analysis method

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[0030]The realization 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 the dual quaternion in the frequency domain The kinematic equations and obtain the thrust velocity

[0032] Such as figure 2 As shown, first for Δθ IB B (t n ), Δv B (t n ) for smooth continuation (provided that the The compensation signal represents Δθ IB B (t n ), Δv B (t n ) compensation signal, where means t n dual quaternion of moment express time inertial navigation device output angle increment and velocity increment signal); then discrete Fourier transform is carried out to the obtained angle increment and velocity increment signal to obtain Δθ IB B (t n ), Δv B (t n ) spectrum amplitude And according to the corresponding relationship between angular velocity and angular increment, ac...

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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 outputby 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 high dynamic environments , Orientation system, etc. Background technique [0002] Since the concept of the strapdown inertial navigation system was put forward in the late 1950s, after more than 50 years of development, the strapdown inertial navigation system has been widely used in many fields of military and civilian use, but there are still some problems in terms of accuracy and reliability. Quite a few questions. In general, the improvement of the performance of the strapdown inertial navigation system mainly depends on two aspects: high-precision inertial navigation devices and ideal navigation algorithms. In the pas...

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Application Information

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Patent Type & Authority Patents(China)
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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