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North-finding method based on orientation effect error compensation

A technology of error compensation and azimuth effect, applied in the field of navigation and guidance, can solve problems such as errors, inability to realize real-time calibration compensation, and inability to change

Inactive Publication Date: 2011-10-05
SOUTHEAST UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

It can be seen that the existing technology uses many professional instruments, takes a long time, cannot realize real-time calibration compensation, and the azimuth effect error after calibration is a certain value, which cannot be changed with changes in the environment

Method used

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  • North-finding method based on orientation effect error compensation
  • North-finding method based on orientation effect error compensation
  • North-finding method based on orientation effect error compensation

Examples

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Embodiment Construction

[0026] A north-seeking method based on azimuth effect error compensation. First, the fiber optic gyroscope 1 and the accelerometer 2 are installed on a turntable containing an angle measurement system, and then the turntable is installed on a carrier. The steps are as follows:

[0027] Step 1: Take the northeast sky coordinate system as the geographical coordinate system, take the center of gravity of the carrier as the origin o of the carrier coordinate system, take the front of the carrier as the y-axis, take the right side of the carrier as the x-axis, take the vertical upward as the z-axis, and define the azimuth as the carrier The angle H between the positive direction of the y-axis of the coordinate system and the true north direction is positive clockwise; the tilt angle is defined as the pitch angle θ and roll angle γ of the carrier coordinate system relative to the geographic coordinate system; the geographic coordinate system is rotated by H , θ and γ coincide with th...

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Abstract

A north-finding method based on orientation effect error compensation. A fiber optic gyro and an accelerometer are first arranged on a rotary table containing an angle measuring system, and then the rotary table is arranged on a carrier. The method comprises the following steps: 1) defining a geographic coordinate system, a carrier coordinate, an azimuth H, and slant angles of theta and gamma; 2) arranging the fiber optic gyro and the accelerometer on the carrier; 3) recording a current position as a position 1, successively turning the rotary table clockwise by 90DEG, recording a position 2, a position 3, and a position 4, acquiring 30s output values of the fiber optic gyro and the accelerometer on the four positions and calculating mean values, and then calculating a current pitching angle theta, a current roll angle gamma and a current coarse azimuth H1; 4) if H satisfies a relation that |H1|<=1 DEG or |H1-180 DEG|<= 1 DEG, H1 being an actual azimuth; otherwise, controlling the rotary table to turn by (90 DEG-H1) clockwise, repeating step 3), calculating a current accurate azimuth H2, and using (H1+H2) as an actual azimuth for north-finding.

Description

technical field [0001] The invention relates to the measurement and positioning technology of the heading and attitude of the carrier, and in particular to a north-finding method for autonomously compensating and navigating with inertial sensors (optical fiber gyroscopes and accelerometers) for azimuth effect errors without external auxiliary information, and belongs to Navigation and guidance technology field. Background technique [0002] With the development of inertial navigation technology, gyro north finder has been widely used in military and civilian orientation. The fiber optic gyroscope is a new type of all-solid-state gyroscope without mechanical rotating parts based on the Sagnac effect. It has the advantages of impact resistance, high sensitivity, long life, low power consumption, and reliable integration. The fiber optic gyro north finder uses the earth rotation angular velocity component value measured by the fiber optic gyro and the carrier tilt angle measur...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C19/72
Inventor 程向红张馨王宇
Owner SOUTHEAST UNIV
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