Autonomous non-overshoot state switching method of ship inertial navigation system

Abstract

The invention discloses an autonomous non-overshoot state switching method of a ship inertial navigation system, comprising the following steps of: determining the damping ratio of a correction link; determining the time domain parameter during the calibration process; determining the cut-off frequency during the correction link; determining the system bandwidth; determining two handover frequencies during the correction link; determining a low-frequency band during the correction link; determining a high-frequency band during the correction link; determining the convergence frequency band of the correction link; determining the transmission function during the correction link; determining the switching time; determine the switching step length; determining the velocity variable before and after the correction; acquiring acceleration and angular velocity of the inertial device output; compensating for the inertia device output according to the error source of the inertial device; integrating the acceleration information to obtain the speed; acquiring a velocity correction value; acquiring speed after the correction; acquiring angular velocity information after the correction and feeding back by the Shura loop; and integrating the speed after the correction to obtain the position after the correction. By the adoption of the method provided by the invention, overshoot errors generated during the state switching process can be inhibited without depending on the external speed.

Description

technical field [0001] The invention relates to the technical field of inertial navigation, in particular to an autonomous non-overshoot state switching method of a ship inertial navigation system. technical background [0002] The horizontal loop of the inertial navigation system is essentially a critically stable second-order system. Under the action of error sources (gyro drift, accelerometer zero bias, etc.), the output of the system presents a periodic oscillation trend. In order to suppress the oscillatory error of the system, an effective solution is to add a correction link in the system loop to change the characteristic root of the system loop so that the loop has a damping effect to attenuate the oscillatory error caused by the error source. According to the control theory, after adding the correction link, the accuracy of the inertial navigation system is strongly affected by the acceleration of the carrier. Therefore, when the ship is in a maneuvering state, it i...

AI Technical Summary

Problems solved by technology

However, this compensation method depends on the externally measured speed, and there may be residual uncompensated errors, which have a great impact on the accuracy of the inertial navigation system and the navigation safety of the ship.

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