Integrated attitude determination method without external observed quantity for modulated strapdown system

A determination method, modulation type technology, applied in the field of measurement, which can solve the problem of not being able to adapt to the requirements of rapid response, etc.

Inactive Publication Date: 2012-11-07
LIAONING TECHNICAL UNIVERSITY
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AI Technical Summary

Problems solved by technology

However, the initial attitude determination technology of the static base can no longer meet the requirements of rapid response for many ai

Method used

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  • Integrated attitude determination method without external observed quantity for modulated strapdown system
  • Integrated attitude determination method without external observed quantity for modulated strapdown system
  • Integrated attitude determination method without external observed quantity for modulated strapdown system

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Embodiment Construction

[0098] The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing:

[0099] (1) Determine the initial position parameters of the carrier by GPS, and bind them into the navigation computer;

[0100] (2) The modulated strapdown inertial navigation system is preheated, and the data output by the fiber optic gyroscope and the quartz accelerometer are collected and processed;

[0101] (3) The IMU adopts a translocation scheme in which four rotation-stop sequences are one rotation cycle (as shown in the attached figure 2 );

[0102] Sequence 1, IMU starts from position A, rotates 180° clockwise to position B, and stays in position B for T s ;Sequence 2, IMU starts from position B, rotates clockwise 90° to reach position C, and stays at position C for T s ;Sequence 3, IMU starts from position C, rotates 180° counterclockwise to position D, and stays at position D for T s ;Sequence 4, the IMU starts from position D and ro...

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Abstract

The invention provides an integrated attitude determination method without external observed quantity for a modulated strapdown system. The method comprises the steps of: determining initial position parameters of a carrier by a global positioning system (GPS) and binding the parameters to a navigation computer; acquiring data output by a fiber optic gyros and a quartz accelerometer, and processing the data; setting an inertial measurement unit (IMU) single shaft four position rotation stopping scheme; converting the accelerometer output to a carrier semi-fixed coordinate system; designing an infinite impulse response (IIR) digital high-pass filter, and carrying out filtering on the carrier velocity resolved under a navigation system; subtracting the filtered velocity from a velocity calculated by the modulated strapdown system, and using the difference as a system observed quantity; and estimating attitude information of the modulated strapdown inertial navigation system by a Kalman filtering technique. The method provided by the invention does not need external auxiliary equipment to provide observation information, and can effectively solve the problem of mismatching between the frequency of information supply by the auxiliary equipment and the frequency of cultivation of the modulated strapdown system, and realize integrated attitude determination of the modulated strapdown inertial navigation system.

Description

(1) Technical field [0001] The invention relates to a measurement method, in particular to a method for determining the combined posture of a modulated strapdown system without appearance measurement. (2) Background technology [0002] In the strapdown inertial navigation system, all inertial measurement elements are directly installed on the carrier, and the output of the inertial elements is the angular velocity and acceleration of the carrier relative to the inertial space, and the computer converts the acceleration data measured in the carrier coordinate system to navigation coordinates The system then performs navigation calculations, which is equivalent to using the output data of the gyroscope to build a mathematical platform in the computer as a reference for navigation calculations. Since the strapdown system does not have a platform frame and a connected servo mechanism, the hardware is simplified. Compared with the platform inertial navigation system, it has the a...

Claims

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Application Information

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IPC IPC(8): G01C21/20
Inventor 孙伟徐爱功车莉娜
Owner LIAONING TECHNICAL UNIVERSITY
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