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Fast and parameter sectional type self-alignment method for strapdown inertial navigation system

A strapdown inertial navigation and self-alignment technology, applied in the field of strapdown inertial navigation, can solve the problems of long alignment time, jitter in the alignment process, poor anti-interference ability, etc., so as to improve fast convergence and anti-interference performance, The effect of ensuring security and confidentiality

Active Publication Date: 2012-07-04
SOUTHEAST UNIV
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AI Technical Summary

Problems solved by technology

[0006] The technical solution of the present invention is to provide a fast, parameter-segmented strapdown inertial navigation system for the problems of alignment process jitter, long alignment time, and poor anti-interference ability in the traditional self-alignment method Self-alignment method, especially suitable for strapdown inertial navigation system to complete the passive autonomous fast alignment process

Method used

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  • Fast and parameter sectional type self-alignment method for strapdown inertial navigation system
  • Fast and parameter sectional type self-alignment method for strapdown inertial navigation system
  • Fast and parameter sectional type self-alignment method for strapdown inertial navigation system

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Embodiment Construction

[0076] Such as figure 1 , the specific implementation steps of the present invention are as follows:

[0077] 1) Determine self-alignment fine alignment parameters before alignment, including damping ratio ξ, attenuation coefficient σ, adjustment time t at each stage s , alignment time T and other parameters in the alignment control loop calculated from this parameter;

[0078] 2) Use the analytical method for rough alignment to determine the initial attitude matrix and the initial heading angle Initial pitch angle θ 0 and the initial roll angle γ 0 ;

[0079] 3) Start the fine alignment process on the basis of the rough alignment in step 2, and divide the stages according to the fine alignment, each stage calculates the acceleration correction information in the navigation coordinate system by the alignment loop and angular velocity correction information The navigation coordinate system is the northeast sky coordinate system;

[0080] 4) The acceleration correcti...

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Abstract

The invention relates to a fast and parameter sectional type self-alignment method for a strapdown inertial navigation system. A coarse alignment process is finished through an analysis method, and then horizontal precise alignment and directional precise alignment are conducted. The directional precise alignment is divided into three stages, and each stage selects different adjustment time and attenuation coefficient to determine alignment parameters according to characteristics of the stage. Acceleration correction and angular velocity correction are calculated based on the alignment parameters, input acceleration information and angular velocity information are corrected, an initial attitude angle is obtained through hypercomplex number calculating by using corrected information, and a precise alignment process is finished. The fast and parameter sectional type self-alignment method finishes initial alignment through an analysis method and a compass method by collecting data of a gyroscope and an accelerometer, other sensor information is not required, and safety and security of the initial alignment are guaranteed. The fast and parameter sectional type self-alignment method selects the optimum adjusting time and attenuation coefficient according to alignment characteristics of different stages to calculate other alignment parameters, fast convergence performance and anti-interference performance of an alignment curve are improved.

Description

technical field [0001] The invention belongs to the technical field of strapdown inertial navigation, relates to initial alignment, and is a fast, parameter segmented strapdown inertial navigation system self-alignment method. Background technique [0002] Strapdown inertial navigation, referred to as strapdown inertial navigation, an important problem of strapdown inertial navigation system is initial alignment. To achieve the highest alignment accuracy in the shortest possible time is the goal pursued by SINS initial alignment technology. The initial alignment of SINS is to determine the attitude matrix at the initial moment. [0003] The initial alignment has two requirements of precision and rapidity. In order to meet the high-precision requirements, it is hoped that the inertial sensor has the highest possible accuracy and stability, and the system is not sensitive to external disturbances. In order to improve the accuracy of the system, it is also hoped that the gyr...

Claims

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Application Information

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IPC IPC(8): G01C25/00
Inventor 张涛徐晓苏刘锡祥王立辉李佩娟
Owner SOUTHEAST UNIV
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