Method for acquiring initial course attitude of fiber optic gyro strapdown inertial navigation system

A strapdown inertial navigation and fiber optic gyroscope technology, applied in the field of measurement, can solve the problem that the accuracy of the initial heading angle is not ideal

Inactive Publication Date: 2012-06-06
HARBIN ENG UNIV
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Problems solved by technology

The traditional initial attitude measurement method can quickly obtain high-precision horizontal attitude angles, but the accuracy of the initial heading angles is not ideal enough to meet the requirement

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  • Method for acquiring initial course attitude of fiber optic gyro strapdown inertial navigation system
  • Method for acquiring initial course attitude of fiber optic gyro strapdown inertial navigation system
  • Method for acquiring initial course attitude of fiber optic gyro strapdown inertial navigation system

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Embodiment Construction

[0069] Attached below figure 1 The present invention is described in more detail:

[0070] Step 1. Preheat the fiber optic gyro strapdown inertial navigation system;

[0071] Step 2, using GPS information to bind the initial speed parameters and initial position parameters of the ship to the ship's fiber optic gyro strapdown inertial navigation system navigation computer, the ship's initial position parameters include the initial longitude and latitude of the ship;

[0072] Step 3. Collect the data output by the fiber optic gyroscope and the quartz accelerometer, roughly measure the initial attitude of the ship, and establish the initial direction cosine matrix C b i ';

[0073] Step 4, the fiber optic gyroscope strapdown inertial navigation system utilizes the initial values ​​obtained in step 2 (binding initial velocity parameters and initial position parameters) and step 3, and utilizes the output angular velocity of the fiber optic gyroscope and the output ratio of the...

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Abstract

The invention relates to a method for acquiring an initial course attitude of a fiber optic gyro strapdown inertial navigation system. The method is characterized by: extracting gravitational acceleration information from an acceleration meter through filtering processing and compensation, projecting an earth gravitational vector to an inertial coordinate system, with rotational-angular velocity information of the earth included in a projecting component, taking the earth gravitational vector in the inertial coordinate system as reference information, and making use of the output of a gyro and the acceleration meter to estimate an initial attitude angle. On the basis of ensuring that an initial horizontal angle satisfies a precision requirement, the method of the invention substantially improves the precision of an initial course angle of the fiber optic gyro strapdown inertial navigation system.

Description

(1) Technical field [0001] The invention relates to a measurement technology, in particular to a method for obtaining an initial heading angle by a fiber optic gyro strapdown inertial system. (2) Background technology [0002] The fiber optic gyro strapdown inertial navigation system is an autonomous navigation system, which uses Newton's second law to perform integral calculations on the basis of initial information, and can continuously and real-time provide attitude, speed and position information, with good concealment and no interference It is widely used in military weapon systems, and the acquisition of the initial attitude, especially the initial heading angle, is the key link of the whole system. [0003] The process of initial attitude measurement of fiber optic gyro strapdown inertial navigation system includes two stages of coarse alignment and fine alignment. The traditional initial attitude measurement method can quickly obtain high-precision horizontal attitu...

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
Inventor 孙枫曹通张鑫徐博周广涛陈世同于强高洪涛吴磊王慧
Owner HARBIN ENG UNIV
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