Optical fiber strapdown inertial navigation double-shaft rotation modulation method and double-shaft rotation mechanism

A fiber-optic strapdown inertial navigation and dual-axis rotation technology, applied in the field of inertial navigation, can solve problems such as difficult to meet high-precision navigation in the navigation field

Active Publication Date: 2012-10-24
BEIJING AUTOMATION CONTROL EQUIP INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the drift of the fiber optic gyroscope will change greatly due to the influence of temperature, it is difficult to

Method used

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  • Optical fiber strapdown inertial navigation double-shaft rotation modulation method and double-shaft rotation mechanism
  • Optical fiber strapdown inertial navigation double-shaft rotation modulation method and double-shaft rotation mechanism
  • Optical fiber strapdown inertial navigation double-shaft rotation modulation method and double-shaft rotation mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0039] First, a dual-axis rotating mechanism with a mounting platform is established. The mounting platform is used to install the inertial measurement unit (IMU). of.

[0040] Secondly, the rotating mechanism is controlled to rotate with one axis or two axes at the same time to perform initial alignment. The initial alignment usually includes coarse alignment and fine alignment to obtain the error of the initial attitude matrix.

[0041] Finally, the two axes of the rotating mechanism are simultaneously rotated to perform inertial navigation, and the attitude matrix in the coordinate system of the vehicle is obtained.

Embodiment 2

[0043] On the basis of Embodiment 1, in order to eliminate the azimuth measurement error of the inertial measurement unit caused by the turning motion of the carrier, the azimuth change of the carrier is obtained in real time during the turning process of the carrier during inertial navigation; then the azimuth axis of the inertial measurement unit is controlled Rotate in the opposite direction of the vehicle's turning, and ensure that the rotation angle is equal to and opposite to the direction change of the vehicle.

Embodiment 3

[0045] (S1) Build a two-axis rotation mechanism

[0046] The dual-axis rotation mechanism includes a mounting platform, two mutually perpendicular rotating shafts and a frame connecting the mounting platform and the rotating shaft; the mounting platform is used to install the device to be rotated, and the device on the mounting platform is realized by controlling the rotating shaft or the frame Rotation around the axis of rotation.

[0047] A specific implementation method such as figure 1 As shown, the two-axis rotation mechanism includes an inner shaft 2 and an outer shaft 4 that are perpendicular to each other. The inner shaft 2 is fixedly connected to the installation platform 1, and the inner shaft 2 is connected to the inner frame 3, and the inner frame 3 is equipped with a drive to control the rotation of the inner shaft. mechanism, the outer shaft 4 is fixedly connected to the inner frame 3, the outer shaft 4 is connected to the outer frame 5 and a drive mechanism for...

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Abstract

The present invention belongs to the technical field of inertial navigation, and specifically relates to an optical fiber strapdown inertial navigation double-shaft rotation modulation method and a double-shaft rotation mechanism. A purpose of the present invention is to improve alignment accuracy of an inertial navigation system and navigation accuracy during long-distance navigation. The method comprises: S1, establishing a double-shaft rotation mechanism, such that any two axial directions of an inertial measurement unit are parallel to two rotation shafts of the double-shaft rotation mechanism, and rotations of the rotation shafts are continuous; S2, controlling rotation of the rotation mechanism, and carrying out initial alignment to obtain an error of an initial attitude matrix; and S3, carrying out concurrent rotation on the two shafts of the rotation mechanism, and carrying out inertial navigation to obtain an attitude matrix in a transporter coordinate system. According to the present invention, with establishment of the continuously-rotating double-shaft rotation mechanism, an error of an inertial device can be modulated well, and navigation accuracy can be improved; with double shaft rotation modulation and attitude matrix change, an attitude matrix in a transporter coordinate system can be obtained so as to obtain accurate transporter movement parameters.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and in particular relates to a fiber optic strapdown inertial navigation dual-axis rotation modulation method and a dual-axis rotation mechanism. Background technique [0002] During the development of the high-precision fiber optic strapdown inertial navigation system, because the drift of the fiber optic gyro is greatly affected by temperature, the gyro with a zero bias stability performance of 0.01° / h under constant temperature conditions can only reach 0.03° under variable temperature conditions / h is even worse, so that the navigation accuracy of the inertial navigation system can only reach about 3n mile / h. [0003] In order to improve the accuracy of the inertial navigation system, the inertial navigation system can be designed with single-axis rotation modulation technology, and the influence of horizontal gyro drift can be suppressed by performing single-axis rotation modulat...

Claims

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Application Information

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IPC IPC(8): G01C21/18G01C25/00
Inventor 徐海刚李延熊建琼黄妍妍张伟王婷唐彦
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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