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Method for determining initial attitude of inertial navigation system based on Kalman filtering

An inertial navigation system and Kalman filtering technology, applied in directions such as navigation through velocity/acceleration measurement, can solve problems such as unreliable calculation, unusable, high-frequency wave interference, etc., to improve observability, calibration accuracy, The effect of improving accuracy

Inactive Publication Date: 2010-12-29
SHANGHAI HIGH SCHOOL
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Problems solved by technology

As a result, the noise of the former is very strong, and often has high-frequency wave interference, and the calculation is simple and unreliable; the noise of the latter is not obvious, but in the case of sampling 4500 times in 12 seconds, the angle of the gyroscope is shifted by 30 degrees, which makes the result unusable

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  • Method for determining initial attitude of inertial navigation system based on Kalman filtering
  • Method for determining initial attitude of inertial navigation system based on Kalman filtering
  • Method for determining initial attitude of inertial navigation system based on Kalman filtering

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Embodiment Construction

[0028] Below in conjunction with accompanying drawing, the utility model is further described:

[0029] Such as figure 1 As shown, the initial attitude determination method of the inertial navigation system based on the Kalman filter is characterized in that it comprises the following steps:

[0030] In step 101 and step 102, the navigation system is preheated and kept at the initial position, which is called the first position, and the acceleration sensor is used to sample the X-axis and the Z-axis; the gyroscope is used to sample the Y-axis;

[0031] Then in step 103, the X-axis and Z-axis sampling of the above-mentioned acceleration sensor, and the Y-axis sampling of the gyroscope respectively estimate the data collected by the roll angle and transmit them to the MATLAB of the PC computer for data analysis and processing through RS232;

[0032] In step 105, step 107 and step 109, the above-mentioned processed data is corrected by the gyroscope and integrated to obtain the ...

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Abstract

The invention relates to a method for determining the initial attitude of an inertial navigation system, in particular to a method for determining the initial attitude of the inertial navigation system based on Kalman filtering. The course angle, the pitch angle and the roll angle are calculated according to the relation between the output of a gyro and the rotational angular velocity of the earth and the relation between the output of an acceleration transducer and the acceleration of gravity, and are substituted in a Kalman filter to finally determine the initial attitude. Compared with the prior art, the method increases the observability of the inertial navigation system, improves the filtering effect of the Kalman filter and better estimates the misalignment angle, the constant drift of the gyro and the constant bias of an accelerometer. More accurate course angle, pitch angle and roll angle can be obtained by correcting an attitude matrix by using the estimated misalignment angle.

Description

technical field [0001] The invention relates to a method for determining the initial attitude of an inertial navigation system, in particular to a method for determining the initial attitude of an inertial navigation system based on Kalman filtering. Background technique [0002] A drone is an aircraft that does not require a pilot on board. They can be controlled remotely by an operator, or they can be self-controlled through a pre-programmed trajectory. And this kind of unmanned aerial vehicle used for self-control is widely used in the military. The deep use of self-controlled unmanned aerial vehicle in the military can not only be used for rescue work, reconnaissance work, and even be used for the control of long-range missiles. The premise of all this is the continuous improvement of drone technology. [0003] Inertial navigation system is one of the widely used UAV control. The premise of its use is to perform self-control according to the set trajectory through the...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/18
Inventor 王萧杨新毅
Owner SHANGHAI HIGH SCHOOL
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