Single-axis rotating micro-mechanical inertial navigation modulation method

Abstract

The invention belongs to the technical field of inertial navigation, and more particularly relates to a single-axis rotating micro-mechanical inertial navigation modulation method. The invention aims to carry out modulation on micro-mechanical gyroscopic drift by utilizing a low-cost rotating mechanism and improve the pure inertial navigation accuracy of an inertial navigation system. The method comprises the steps of: construction of the single-axis rotating mechanism, initial alignment and navigation calculation for obtaining a pose matrix in a carrier coordinate system; the single-axis rotating mechanism comprises a shaft driven by a driving device; the shaft drives an installation platform to rotate; and the installation platform can be used for installing an inertial measuring unit. According to the method, the equivalent accuracy of a quartz tuning-fork gyroscope can be greatly increased, the pure inertial navigation accuracy of the system is increased to 2nmile / 10min, and the requirement on high-accuracy navigation is met.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and in particular relates to a single-axis rotating micro-mechanical inertial navigation method. Background technique [0002] Micromechanical gyroscopes have the advantages of high reliability, strong environmental adaptability, small size, and low cost, but their accuracy is low. Generally, they can only be used in integrated navigation systems with satellite navigation systems, while pure inertial navigation has poor accuracy. At present, the normal temperature zero bias stability of a typical quartz tuning fork gyro can reach 10° / h, and the full temperature range is 50° / h. The positioning error of 10 minutes of navigation can reach more than 20nmile, which cannot meet the needs of high-precision navigation. [0003] However, the noise of the quartz tuning fork gyro is relatively small, which can reach 0.5° / sqrt(h) at present. If the influence of slowly changing gyro drift can be s...

AI Technical Summary

Problems solved by technology

[0002] Micromechanical gyroscopes have the advantages of high reliability, strong environmental adaptability, small size, and low cost, but their accuracy is low. Generally, they can only be used in an integrated navigation system with satellite navigation systems, while pure inertial navigation has poor accuracy.

At present, the normal temperature zero-bias stability of a typical quartz tuning fork gyro can reach 10° / h, and the full temperature range is 50° / h. The positioning error of 10 minutes of navigation can reach more than 20nmile, which cannot meet the needs of high-precision navigation.

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