Error suppressing method of fiber strap-down inertial navigation system based on three-axis rotation

A technology of optical fiber strapdown inertial navigation and system error, applied in the field of measurement

Inactive Publication Date: 2012-11-21
LIAONING TECHNICAL UNIVERSITY
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Problems solved by technology

[0005] Single-axis rotation can only compensate for the constant value deviation of inertial devices in the directions of two sensitive axes; although dual-axis rotation can compensate for the constan

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  • Error suppressing method of fiber strap-down inertial navigation system based on three-axis rotation
  • Error suppressing method of fiber strap-down inertial navigation system based on three-axis rotation
  • Error suppressing method of fiber strap-down inertial navigation system based on three-axis rotation

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Embodiment Construction

[0068] The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing:

[0069] (1) Determine the initial position parameters of the carrier by GPS, and bind them into the navigation computer;

[0070] (2) The strapdown inertial navigation system is preheated, and the data output by the fiber optic gyroscope and the quartz accelerometer are collected and processed;

[0071] (3) The IMU adopts an indexing scheme in which twelve rotation-stop sequences are one rotation cycle (as shown in the attached figure 2 );

[0072] Sequence 1, IMU starts from point A and rotates 180° counterclockwise to reach position B, stop time T s ;Sequence 2, IMU starts from point B and rotates 180°counterclockwise to reach position C, stop time T s ;Sequence 3, IMU starts from point C and rotates 180°counterclockwise to reach position A, stop time T s ;Sequence 4, IMU starts from point A and rotates 180°counterclockwise to reach position C, ...

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Abstract

The invention provides an error suppressing method of a fiber strap-down inertial navigation system based on three-axis rotation. The error suppressing method comprises the following steps: determining an initial position parameter of a carrier by using a GPS (global positioning system); collecting data output by a fiber-optic gyroscope and a quartz accelerometer; determining attitude information of the carrier according to relationship of output of the accelerometer and gravity acceleration as well as relationship of output of the gyroscope and the rotational angular velocity of the earth, and accomplishing initial alignment of the system; employing an indexing scheme of a rotational period of twelve rotation-stop orders by IMU (inertial measurement unit); converting data generated by the fiber-optic gyroscope and the quartz accelerometer after rotation of the IMU to be in navigation coordinate system to obtain a modulation format of constant deviation of an inertial unit; updating a strap-down matrix by utilizing an output value of the fiber-optic gyroscope; and calculating position information of the carrier after the IMU is rotated and modulated. With the adoption of the error suppressing method disclosed by the invention, constant deviation of the inertial unit in three-axis direction can be modulated, thereby navigation positioning precision is improved.

Description

(1) Technical field [0001] The invention relates to a measurement method, in particular to a method for suppressing errors of an optical fiber strapdown inertial navigation system based on three-axis rotation. (2) Background technology [0002] Inertial navigation is to use inertial sensitive elements (gyroscope and accelerometer) to measure the linear motion and angular motion of the carrier relative to the inertial space, and under the known initial conditions, use the computer to calculate the navigation parameters such as the speed, position and attitude of the carrier. It completely relies on its own sensitive devices to complete navigation tasks, without relying on any external information, and does not radiate any energy. It is a completely autonomous navigation system, so it has good concealment, anti-interference, and is not restricted by any weather conditions. advantage. In addition, the inertial navigation system also has the characteristics of high data update ...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/16
Inventor 孙伟徐爱功徐宗秋车莉娜
Owner LIAONING TECHNICAL UNIVERSITY
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