SINS (strapdown inertial navigation system) initial alignment method based on earth rotation angular rate constraint

A technology of earth rotation and initial alignment, applied in the field of inertial navigation, can solve the problems of low observability and increase the measurement error of the angular rate of the earth's rotation, so as to improve the observability, improve the observability, and improve the filtering effect.

Inactive Publication Date: 2012-10-03
BEIHANG UNIV
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Problems solved by technology

To solve the problem of low observability of the existing initial alignment system, by using the feature that SINS only measures the angular rate of the earth's rotation under static conditions, the measurement error of the angular rate of the earth's rotation is added as the observation quantity, which improves the observability of th

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  • SINS (strapdown inertial navigation system) initial alignment method based on earth rotation angular rate constraint
  • SINS (strapdown inertial navigation system) initial alignment method based on earth rotation angular rate constraint
  • SINS (strapdown inertial navigation system) initial alignment method based on earth rotation angular rate constraint

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Embodiment Construction

[0018] As attached to the manual figure 1 Shown, concrete implementation of the present invention comprises the following steps:

[0019] 1. SINS warm-up preparation

[0020] After SINS is turned on, warm up for 30 minutes to stabilize the working status of the gyroscope and accelerometer.

[0021] 2. Collect gyroscope and accelerometer data

[0022] After the SINS is ready for warm-up, keep the SINS still and collect the output data of the gyroscope and accelerometer for 5 minutes.

[0023] 3. Coarse alignment, calculate the initial attitude angle

[0024] (1) Calculate the Euler angle conversion matrix between the geographic coordinate system and the carrier coordinate system

[0025] The navigation coordinate system is taken as the northeast sky geographic coordinate system. It can be seen that the output of the accelerometer and the acceleration of gravity, as well as the output of the gyroscope and the angular velocity of the earth's rotation, have the following rel...

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Abstract

The invention relates to an SINS (strapdown inertial navigation system) initial alignment method based on earth rotation angular rate constraint. The method adopts a Kalman filtering technique for alignment. On the basis of the traditional speed error measuring model, earth rotation angular rate is added as a constraint condition to obtain an improved initial alignment error model. The error model improves the observability of a system during stationary base alignment. By conducting Kalman filtering based on the model to estimate the attitude misalignment angle, the speed error, the gyroscope constant drift and the accelerometer constant bias of the system, the initial attitude and skyward gyroscope drift of the SINS can be obtained more rapidly and accurately. The SINS initial alignment method based on earth rotation angular rate constraint has the characteristics of autonomous navigation, high accuracy, high flexibility, simplicity and convenience, and is suitable for all kinds of medium-accuracy and high-accuracy SINSs.

Description

technical field [0001] The invention relates to a SINS initial alignment method based on the earth rotation angular rate constraint, which belongs to the technical field of inertial navigation, and can be widely used in the initial alignment of various medium and high-precision SINS, effectively improving the observability of the system, thereby improving the Accuracy of initial alignment. Background technique [0002] The basic principle of the strapdown inertial navigation system (Strapdown Inertial Navigation System, SINS) is based on the law of mechanics of relative inertial space proposed by Newton, using gyroscopes and accelerometers to measure the angular motion and linear motion parameters of the carrier relative to the inertial space. The coupled inertial navigation formulates equations, performs corresponding integral calculations, and continuously and real-time provides navigation information such as position, speed, and attitude. Since SINS completely relies on ...

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Application Information

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IPC IPC(8): G01C25/00
Inventor 钟麦英曹全房建成张蓉宫晓琳
Owner BEIHANG UNIV
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