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Biaxial rotation modulation method of strapdown inertial navigation system

A strapdown inertial navigation and dual-axis rotation technology, applied in navigation calculation tools, navigation through speed/acceleration measurement, etc., can solve the complexity and technical difficulty of high angular acceleration reversing mechanism engineering, and the rate deviation frequency cannot be popularized and applied And other issues

Active Publication Date: 2013-07-03
BEIJING AUTOMATION CONTROL EQUIP INST
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Problems solved by technology

Limited by the complexity and technical difficulty in engineering realization of high angular acceleration reversing mechanism, the rate bias frequency has not been able to be popularized and applied in engineering

Method used

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  • Biaxial rotation modulation method of strapdown inertial navigation system
  • Biaxial rotation modulation method of strapdown inertial navigation system
  • Biaxial rotation modulation method of strapdown inertial navigation system

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Embodiment Construction

[0047] In the following, a dual-axis rotation modulation method for strapdown inertial navigation system of the present invention will be introduced with reference to the accompanying drawings and embodiments:

[0048] A dual-axis rotation modulation method for strapdown inertial navigation system, such as figure 1 As shown, including the following steps:

[0049] Step 1: Set the coordinate system

[0050] The strapdown inertial navigation system includes a dual-axis rotation mechanism and an inertial measurement unit, which includes 3 gyroscopes and 3 accelerometers. Set the carrier coordinate system of strapdown inertial navigation system as X b Y b Z b , The coordinate system of the inertial measurement unit is X m Y m Z m , The gyro coordinate system is X g Y g Z g , The accelerometer coordinate system is X a Y a Z a , Each coordinate system conforms to the right-hand rule, and each axis is perpendicular to each other.

[0051] Step 2: Install the gyroscope and accelerometer

[005...

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Abstract

The invention belongs to the technical field of modulation of a strapdown inertial navigation system and relates to a biaxial rotation modulation method of the strapdown inertial navigation system which aims at reducing the complexity and realizing the rate bias without a high angular acceleration reversing mechanism. The biaxial rotation modulation method comprises six steps of setting a coordinate system, mounting a gyroscope and an accelerometer, mounting an inertial measurement unit, carrying out biaxial rotation modulation, carrying out navigation calculation of the inertial measurement unit and carrying out demodulation and calculation of data on the strapdown inertial navigation system. The biaxial rotation modulation method adopts the biaxial rotation module and can realize the modulation of errors of an inertia device in the strapdown inertial navigation system and improve the navigation precision of the strapdown inertial navigation system. The biaxial rotation modulation method does not need the high angular acceleration reversing mechanism for the strapdown inertial navigation system using the laser gyroscope, thereby reducing the implementation complexity of the system and further reducing the implementation cost of the system.

Description

Technical field [0001] The invention belongs to the technical field of strapdown inertial navigation system modulation, and relates to a strapdown inertial navigation system dual-axis rotation modulation method. Background technique [0002] Long endurance and high precision are the goals pursued by inertial technology. As the accuracy of inertial devices (especially gyroscopes) has become more and more difficult, the long-endurance accuracy of traditional strapdown inertial navigation has also encountered a bottleneck. When the accuracy of the inertial device cannot be significantly improved, the rotation modulation can effectively suppress the influence of the error of the inertial device on the accuracy of the inertial navigation, thereby improving the navigation accuracy. The representative product "Roulette Trojan Horse" 400 (C-400) series strapdown inertial navigation system of Delco company in the United States adopts a single-axis rotation modulation scheme. For details,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20
Inventor 邱宏波练涛崔鹏程周章华黄妍妍张良军陈明刚
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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