Quick accurate alignment method based on fuzzy mapping earth spin velocity
A technology of the earth's rotation and fuzzy method, which is applied in directions such as navigation through velocity/acceleration measurement, which can solve the problems of limited engineering application, interference, and difficulty in practical use, and achieve the effect of easy engineering implementation and improved rapidity.
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[0028] combine Figure 1-10 , the present invention comprises the following steps:
[0029] (1) Determine the initial position parameters of the carrier through external equipment, and bind it to the navigation computer;
[0030] (2) SINS preheating preparation, collecting accelerometer and gyroscope output;
[0031] (3) Use the collected accelerometer and gyroscope outputs to perform rough alignment through standard analytical methods to determine a rough initial attitude matrix;
[0032] (4) Enter the fine alignment stage after the rough alignment, so that the calculation of the earth's rotation angular velocity ω e =Ω e ,Ω e Indicates the real earth rotation speed;
[0033] (5) Obtain the initial attitude according to the output of the accelerometer and coarse alignment, and calculate the angular velocity of the earth's rotation to perform a one-step iterative calculation of the Kalman filter;
[0034] (6) Determine the fine alignment time t f , so that t f The valu...
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