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Single-axis rotation type strapdown inertial navigation system transposition method

A strapdown inertial navigation and inertial navigation system technology, applied in the field of single-axis rotary strapdown inertial navigation system transposition, can solve the problem that the inertial navigation cannot guarantee the full rotation, the rotation error cannot be fully compensated, and the rotation cannot be transferred to the specified position. Location etc.

Inactive Publication Date: 2011-10-19
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method can only be established when the carrier is stationary. When the carrier is moving, the inertial navigation cannot guarantee the full rotation, so it cannot guarantee that the constant drift can be completely averaged
In practical applications, the movement of the carrier will cause the rotation to fail to go to the specified position relative to the geographic coordinate system according to the original design angle, so that the rotation error cannot be fully compensated. Therefore, a method is needed to compensate the error caused by the movement of the carrier in real time.

Method used

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  • Single-axis rotation type strapdown inertial navigation system transposition method
  • Single-axis rotation type strapdown inertial navigation system transposition method
  • Single-axis rotation type strapdown inertial navigation system transposition method

Examples

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Effect test

Embodiment 1

[0058] Apply this method to a land-use single-axis rotary strapdown inertial navigation system; the gyro accuracy in the inertial navigation system is 0.01° / h, the gyro zero bias is 0.1° / h, and the rotation angular velocity Ω of the strapdown inertial navigation system is 18° / s, the initial directions of the INS and the carrier are both north; the movement process of the carrier is as follows:

[0059] The first step is to turn 90° to the left at a speed of 30° / s and stop for 35s;

[0060] In the second step, turn right 100° at a speed of 25° / s and stop for 25s;

[0061] The third step is to turn right 210° at a speed of 35° / s and stop for 10s.

[0062] During the motion of the inertial navigation system, the first three rotation cycles move as follows:

[0063] The three rotation processes in the first rotation cycle are respectively:

[0064] 1) Control the inertial navigation to rotate 180° counterclockwise;

[0065] 2) Control the inertial navigation to rotate 360° cl...

Embodiment 2

[0076] Apply this method to a single-axis rotating strapdown inertial navigation system on water; the gyro precision in the inertial navigation system is 0.01° / h, the gyro zero bias is 0.1° / h, and the rotation angular velocity Ω of the strapdown inertial navigation system is 18° / h s, the initial directions of the INS and the carrier are both north; the movement process of the carrier is as follows:

[0077] The first step is to turn 90° to the left at a speed of 30° / s and stop for 35s;

[0078] In the second step, turn right 100° at a speed of 25° / s and stop for 25s;

[0079] The third step is to turn right 210° at a speed of 35° / s and stop for 10s.

[0080] During the motion of the inertial navigation system, the first three rotation cycles move as follows:

[0081] The three rotation processes in the first rotation cycle are respectively:

[0082] 1) Control the inertial navigation to rotate 180° counterclockwise;

[0083] 2) Control the inertial navigation to rotate 360...

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Abstract

The invention relates to a single-axis rotation type strapdown inertial navigation system transposition method and belongs to the technical field of inertial navigation. A carrier of an inertial navigation system serves as a reference coordinate system, inertial navigation is controlled to rotate in a certain period, each rotation period comprises three rotation processes, and an error caused by carrier motion in the third-time rotation of each rotation period is compensated in the next rotation period. The method has simple steps, a constant drift error which cannot be completely compensateddue to non-isolated carrier motion can be made up, the accuracy of the inertial navigation system is greatly improved, and a rotary system arranged on a moving carrier can be subjected to constant drift compensation on land and in water.

Description

technical field [0001] The invention relates to a single-axis rotating strapdown inertial navigation system indexing method, which belongs to the technical field of inertial navigation. technical background [0002] The error of inertial sensitive devices (such as gyroscope, accelerometer, etc.) is the main source of error in inertial navigation system. If the accuracy of the inertial device is simply improved from the process, there will be problems such as high cost, long cycle time, and technical difficulty. Improving the performance of the inertial navigation system by compensating the error of the inertial sensor is a realistic way to achieve higher navigation accuracy based on the existing technical level of the inertial sensor. The traditional error compensation method for inertial sensitive devices is rotation modulation. The method of rotation modulation is to increase the rotation and control mechanism on the basis of the strapdown inertial navigation system, and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
Inventor 付梦印尚松田刘彤
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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