Gyro information-introduced double-position strapdown inertial navigation system initial alignment method

A strapdown inertial navigation and initial alignment technology, applied in the field of inertial navigation, can solve problems such as prolonging the initial alignment time

Active Publication Date: 2012-06-27
瑞金市工业投资发展有限公司
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Problems solved by technology

[0005] Aiming at the problem of improving the alignment accuracy and prolonging the initial alignment time in the conventional two-position initial align

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  • Gyro information-introduced double-position strapdown inertial navigation system initial alignment method
  • Gyro information-introduced double-position strapdown inertial navigation system initial alignment method
  • Gyro information-introduced double-position strapdown inertial navigation system initial alignment method

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Embodiment Construction

[0078] The technical scheme of the invention will be described in detail below in conjunction with the drawings:

[0079] First, establish the initial alignment state equation of the strapdown inertial navigation system according to the working principle of the strapdown inertial navigation system; then establish the initial alignment measurement equation for the strapdown inertial navigation system to introduce gyro information; according to the initial alignment state of the strapdown inertial navigation system Equations and measurement equations to construct the Kalman filter for the initial alignment of the strapdown inertial navigation system; on the basis of the above, collect the strapdown inertial navigation system information to complete the initial alignment filtering of the first position; finally, collect the shortcut Link the inertial navigation system information to complete the initial alignment filtering of the second position.

[0080] 1) Establish the initial alig...

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Abstract

A gyro information-introduced double-position strapdown inertial navigation system initial alignment method contains the following steps of: establishing an initial alignment state equation of a strapdown inertial navigation system; establishing a gyro information-introduced initial aligning measurement equation of the strapdown inertial navigation system; constructing a Kalman filter used for the initial alignment of the strapdown inertial navigation system; acquiring strapdown inertial navigation system information and completing initial alignment filtering of a first position; and acquiring strapdown inertial navigation system information and completing initial alignment filtering of a second position. The invention brings forward the gyro information-introduced double-position strapdown inertial navigation system initial alignment method. According to the method, based on the strapdown inertial navigation system double-position aligning method, equivalent east-facing gyro information is introduced into an initial aligning observation equation, so as to realize rapid estimation of random literal errors of an inertial device and realize rapid alignment of an azimuth angle. The final alignment precision is similar to the precision of a conventional double-position alignment method. The alignment time in the invention is far lower than that of the conventional double-position alignment method.

Description

Technical field [0001] The invention belongs to the technical field of inertial navigation, is an initial alignment method for strapdown inertial navigation systems, and is suitable for autonomous initial alignment before strapdown inertial navigation systems work. Background technique [0002] The task of initial alignment of strapdown inertial navigation system is to obtain the initial attitude matrix of strapdown inertial navigation system. According to the initial alignment process of the strapdown inertial navigation system, the initial alignment can be divided into two stages: coarse alignment and fine alignment. Analytical coarse alignment is the most commonly used autonomous coarse alignment method. It uses the transformation relationship between the earth’s rotation angular velocity and gravitational acceleration on the navigation system and the carrier coordinate system to calculate the initial attitude matrix; on the basis of coarse alignment, a small Strapdown inerti...

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Application Information

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IPC IPC(8): G01C25/00
Inventor 熊剑余恭敏郭杭刘蓉王吉旭林舟杰严良涛曾剑峰
Owner 瑞金市工业投资发展有限公司
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