Autonomous navigation and attitude measurement device for high speed train

Abstract

The invention relates to an autonomous navigation and attitude measurement device for a high speed train, which comprises a triaxial fiber-optic gyroscope, a triaxial accelerometer, a navigational computer, a temperature control circuit board, a power amplifying circuit board and a power supply module. The triaxial fiber-optic gyroscope and the triaxial accelerometer are fixedly connected onto a carrier, so that a strapdown inertial navigation system is free from a structural platform to provide a reference to measure specific force for the accelerometer, but adopts an immediate correcting strapdown matrix as a platform. The navigational computer collects a carrier coordinate system acceleration and angular speed information output by the fiber-optic gyroscope and the accelerometer, and attitude angle information, speed and position information of the carrier are immediately corrected singly through transformation of coordinates, the strapdown matrix, speed and the position matrix. The device is simple in structure, good in stability and high in precision.

Description

technical field [0001] The present invention relates to a Background technique [0002] At present, there are many methods of carrier attitude measurement, involving a wide range of fields. [0003] a) Inclination sensor: a three-axis accelerometer (three uniaxial accelerometers) is used to measure the attitude angle information sensitive to the gravity component. The inclination sensor attitude measurement has the advantages of low cost and simple structure, but its dynamic performance and temperature performance Difference. [0004] b) Miniature azimuth level: Using micro-electromechanical system (MEMS) technology, a miniature azimuth level combined with micro-electromechanical sensors is designed. The system consists of a three-axis micro-accelerometer and a three-axis micro-magnetometer. The gravity field is calculated by the direction cosine of the geographic coordinate system and the carrier coordinate system to obtain the attitude angle. The micro attitude measureme...

AI Technical Summary

Problems solved by technology

[0003] a) Inclination sensor: a three-axis accelerometer (three uniaxial accelerometers) is used to measure the attitude angle information sensitive to the gravity component. The inclination sensor attitude measurement has the advantages of low cost and simple structure, but its dynamic performance and temperature performance Difference

[0004] b) Miniature azimuth level: Using micro-electromechanical system (MEMS) technology, a miniature azimuth level combined with micro-electromechanical sensors is designed. The system consists of a three-axis micro-accelerometer and a three-axis micro-magnetometer. The gravity field is calculated by the direction cosine of the geographic coordinate system and the carrier coordinate system to obtain the attitude angle. The micro attitude measurement system has the advantages of small size, light weight, low power consumption, and fast startup, but its accuracy is poor.

[0005] c) Attitude measurement of navigation satellite technology: Properly configure two or more non-collinear satellite antennas on the carrier platform, and use the carrier phase difference measurement technology, that is, use the carrier phase difference, ranging code and navigation electronic information received by multiple antennas, through A certain algorithm is used to calculate the baseline vector determined between the antennas to obtain the attitude of the carrier. This method has high precision, but its reliability and stability are poor

[0006] d) Others use photoelectric measurement technology to measure attitude, such as multi-degree-of-freedom measurement method based on interference technology, multi-degree-of-freedom measurement method based on diffraction technology, multi-CCD visual measurement technology, etc., with complex structure, cumbersome detection process and low dynamic performance. Poor, not easy to engineer

Images