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Rapid damping method of strap-down inertial navigation system

A strapdown inertial navigation and strapdown inertial navigation technology, which is applied in the field of rapid suppression of navigation errors of strapdown inertial navigation systems, can solve problems such as long damping process time and inertial navigation system inoperability, and shorten damping time and convergence time , the effect of strong exercise adaptability

Active Publication Date: 2013-01-02
HARBIN ENG UNIV
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AI Technical Summary

Problems solved by technology

Because the damping process takes a long time, under normal circumstances, the inertial navigation system cannot work in the azimuth damping working state

Method used

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  • Rapid damping method of strap-down inertial navigation system
  • Rapid damping method of strap-down inertial navigation system
  • Rapid damping method of strap-down inertial navigation system

Examples

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Embodiment Construction

[0023] The following examples describe the present invention in more detail:

[0024] Step 1: SINS warm-up preparation, the warm-up time is about 2 hours;

[0025] Step 2: Initial alignment of the SINS;

[0026] Step 3: Update the forward attitude matrix;

[0027] When calculating the forward attitude matrix update, the algorithm model adopted is:

[0028] C bk n = C bk - 1 n ( I + ΔT · Ω nbk b ) - - - ( 1 )

[0029] In the formula:

[0030] Ω nbk b = ( ω nbk b ...

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Abstract

The invention provides a rapid damping method of a strap-down inertial navigation system, comprising the following steps: 1, carrying out preheating preparation n on the strap-down inertial navigation system; 2, carrying out initial alignment on the strap-down inertial navigation system; 3, conducting forward attitude matrix updating; 4, conducting forward speed updating; 5, conducting forward position updating; 6, storing the above data, and conducting initial reassignment of the attitude matrix, speed, and position, conducting reversible algorithm of the rap-down inertial navigation system; 7, conducting reverse attitude matrix updating; 8, conducting reverse speed updating; 9, conducting reverse position updating; and 10, conducting initial reassignment of the attitude matrix, speed, and position again, and repeating the step 3 to 9. According to the invention, the characteristics of mathematics platform variation of the strap-down inertial navigation system are fully utilized, a reversible algorithm is introduced, and the rapid convergence of system errors of the strap-down inertial navigation system is finally realized. The method disclosed herein can be used in the field of navigation error inhibition of marine strap-down inertial navigation systems.

Description

technical field [0001] The invention relates to a fast suppression method for navigation errors of a strapdown inertial navigation system. Background technique [0002] The ship strapdown inertial navigation system requires to provide high-precision navigation information under long-time working conditions. The accuracy of the inertial navigation system can be improved by improving the accuracy of the components, accurate calibration of the error parameters of the components and the improvement of the initial alignment method, but how to make full use of the existing technical conditions in the use of the ship strapdown inertial navigation system, adopt Efficient error suppression means to maximize the accuracy of the system is a topic that needs to be studied in depth in the inertial navigation program. At present, the strapdown inertial navigation system often adopts the method of introducing damping to suppress the oscillatory system error. For azimuth damping, the eart...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
Inventor 徐博高伟周广涛奔粤阳卢宝峰吴磊程建华陈世同于强高洪涛
Owner HARBIN ENG UNIV
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