Initial alignment method of static base of rotary type strap-down inertial navigation system

A strapdown inertial navigation and initial alignment technology, applied in the field of inertial navigation, can solve problems such as unsatisfactory convergence speed and accuracy, reduced calculation amount, and large amount of calculation

Active Publication Date: 2012-09-19
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0020] In order to overcome the problems of large amount of calculation, unsatisfactory convergence speed and unsatisfactory accuracy existing in the existing initial alignment method of velocity appearance measurement, the present invention proposes a method for initial alignment of static base of rotary strapdown inertial navigation system, which The method adopts the low-order Kalman

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  • Initial alignment method of static base of rotary type strap-down inertial navigation system
  • Initial alignment method of static base of rotary type strap-down inertial navigation system
  • Initial alignment method of static base of rotary type strap-down inertial navigation system

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[0045] In order to further illustrate the purpose and advantages of the present invention, specific implementations of the present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0046] Step 1. Obtain the longitude λ and latitude L of the position of the carrier of the rotating strapdown inertial navigation system through the global navigation satellite system or other means; import the carrier position information into the navigation computer, and then the ground speed of the download body under the static base condition should be Is zero.

[0047] Step 2: Perform rough alignment according to the determined longitude and latitude information and the output of the inertial navigation system inertial device to obtain an approximate estimated value of the inertial measurement unit attitude matrix;

[0048] In this step, the commonly used method is the analytical coarse alignment method, and the solution formula is as follows:

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Abstract

The invention belongs to the technical field of inertial navigation and provides an initial alignment method of a static base of a rotary type strap-down inertial navigation system to overcome the problems of the existing initial alignment method that the calculation amount is great, the convergence rate and the convergence precision are not ideal. The method adopts a low-order Kalman filtering state equation model and a corresponding self-alignment appearance observation obtaining method to effectively reduce the calculation amount in an alignment calculation process; and furthermore, the Kalman filtering performance is optimized through rotating an IMU (Initial Measurement Unit), so that the initial alignment performance of the static base of the inertial navigation system is improved.

Description

Technical field [0001] The invention relates to an initial alignment method of a rotary strapdown inertial navigation system under the condition of a static base, and belongs to the technical field of inertial navigation. Background technique [0002] The initial alignment of the strapdown inertial navigation system is to determine the initial position, initial velocity and initial attitude angle of the carrier with a certain accuracy in a relatively short time. The initial alignment of strapdown inertial navigation system is usually divided into two stages: coarse alignment stage and fine alignment stage. In the coarse alignment stage, the direction cosine matrix from the carrier coordinate system to the navigation coordinate system is directly estimated according to the measured values ​​of the gravity acceleration vector and the earth rotation angular rate vector. The estimated value deviates from the true value, but it should be a small amount; Alignment can be done using le...

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Application Information

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IPC IPC(8): G01C21/18G01C21/20
Inventor 王博汪顺亭邓志红周元付梦印
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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