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Inertial-navigation quick and initial alignment method under robust optimal significance

An initial alignment, robust technique, applied in the field of robust control theory, which can solve problems such as lack of understanding of statistical properties, system model perturbation, etc.

Inactive Publication Date: 2011-04-27
北京华力创通科技股份有限公司
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  • Summary
  • Abstract
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Problems solved by technology

In actual application, there are external interference signals that lack understanding of statistical characteristics in the system, and the system model itself has a certain range of perturbations

Method used

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  • Inertial-navigation quick and initial alignment method under robust optimal significance
  • Inertial-navigation quick and initial alignment method under robust optimal significance
  • Inertial-navigation quick and initial alignment method under robust optimal significance

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Embodiment Construction

[0041] In order to make the technical problems, solutions, technical ideas, and technical solutions of the present invention clearer, the implementation process of the rapid initial alignment of the inertial navigation system will be further described in detail below with reference to the accompanying drawings.

[0042] The initial alignment involved in the present invention is a key process before the navigation program of the inertial navigation system enters the navigation positioning solution, and represents the highest precision of the navigation system. Such as figure 1 As shown, the initial alignment design process includes the following key steps: First, determine the inertial navigation system error state equation, auxiliary control vector u, auxiliary matrix B 1 and maxmin index; secondly, use the robust optimal control theory to solve and determine the state feedback matrix K 1 ; Then, select the factor matrix S, for H ∞ The filter is improved; finally, the closed...

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Abstract

The invention discloses an inertial-navigation quick and initial alignment method under robust optimal significance, comprising the following steps of: introducing an auxiliary matrix and an auxiliary feedback control vector into an initial alignment system; solving a robust optimal control problem according to a maxmin index, determining a state feedback control matrix; and in an initial alignment process, recursively calculating a state vector in an error equation of an inertial-navigation system in real time by using an improved H infinite filter, forming a closed loop after feedback, and obtaining three misalignment angles after converging the system. The inertial-navigation quick and initial alignment method has good system structure and good stable parameter robustness, improves dynamic responding quality and increases the initial alignment rapidity of the initial alignment system.

Description

technical field [0001] The invention relates to initial alignment technology in the field of inertial navigation, and simultaneously relates to robust control theory. Background technique [0002] Initial alignment is one of the key technologies in the field of inertial navigation. Initial alignment means that before the inertial navigation system officially enters the working state, the platform coordinate system must coincide with the selected navigation coordinate system to provide necessary initial conditions for navigation calculations, including alignment accuracy and alignment time. Index, which has a direct impact on the future performance of the system. [0003] Due to the poor observability of some state variables, the alignment time of the traditional initial alignment method is relatively long. And reducing the initial alignment time is of great significance to improving the rapidity of weapon system response. [0004] The Kalman filter is commonly used in the...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/16
Inventor 戴绍忠吴光跃岳冬雪
Owner 北京华力创通科技股份有限公司
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