Method for calibrating single-shaft-rotation modulation strapdown inertial navigation system at sea
An inertial navigation system and rotation modulation technology, applied in the field of inertial navigation systems, can solve the problems of low calibration accuracy, long calibration data collection time, shortening calibration data collection time, etc., to shorten the time, implement convenient and practical, and improve the accuracy Effect
Inactive Publication Date: 2015-03-11
BEIJING INSTITUTE OF TECHNOLOGYGY
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[0005] In order to solve the problems of long calibration data collection time and low calibration accuracy in the "comprehensive calibration" method, the present invention proposes a single-axis rotation modulation strapdown inertial navigation system calibration method at sea. The ship starts after the initial startup of the dock. During long-distance voyages, when the ship sails at sea for a period of time, when the inertial navigation system accumulates a certain navigation error and needs to be calibrated, according to this calibration method, the system can be calibrated only by obtaining a single-point position navigation data provided by the outside. The time of data collection, but also can further improve the accuracy of inertial navigation system
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[0022] The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0023] Optical (optical fiber or laser) gyro strapdown inertial navigation system uses single-axis rotation modulation technology to eliminate the influence of two horizontal gyroscopes on the system position error in order to improve the system's autonomous navigation accuracy. At this time, the only source of error in inertial navigation system navigation is the vertical gyro drift, so the elimination of navigation errors in the single-axis rotation modulation strapdown inertial navigation system only needs to eliminate the vertical gyro drift.
[0024] Based on the above background, the present invention proposes a single-axis rotation modulation strapdown inertial navigation system calibration method at sea. The data used in this method comes from the inertial navigation system and the satellite navigation receiver of the ship equipment, and the inertia...
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The invention relates to the technical field of inertial navigation systems, and provides a method for calibrating a single-shaft-rotation modulation strapdown inertial navigation system at sea to solve the problems of long acquisition time of calibration data and low calibration accuracy in a 'comprehensive calibration' method. A ship initially starts at a wharf and then starts for a long voyage, and when the ship navigates on the sea for a certain period of time and the initial navigation system accumulates a certain amount of navigation errors and needs calibration, according to the method, only one-time single-point position navigation data which is provided by the outside is acquired to calibrate the system. According to the method, the acquisition time of the calibration data can be shortened, and the accuracy of the inertial navigation system also can be improved.
Description
technical field [0001] The invention relates to the technical field of inertial navigation systems, in particular to a single-axis rotation modulation strapdown inertial navigation method for calibrating and improving precision using position data obtained at sea. Background technique [0002] The marine inertial navigation system continuously and autonomously calculates and outputs various navigation parameters of the ship during the ship's navigation, including the ship's speed, attitude, course, and longitude and latitude of the position. The autonomy of the independent navigation function of the inertial navigation system, which does not need to use electromagnetic waves or light waves to communicate with external satellites or celestial bodies, is its advantage, but the error of the inertial navigation system, especially the error of the longitude and latitude of the position it provides , will continue to grow and accumulate with the prolongation of the ship's voyage t...
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IPC IPC(8): G01C25/00
Inventor 汪湛清房建成汪顺亭
Owner BEIJING INSTITUTE OF TECHNOLOGYGY