Quick estimation method for gyro errors in ship-borne master/sub inertial navigation transfer alignment process

A transfer alignment and sub-inertial navigation technology, which is applied to navigation, measuring devices, instruments, etc. through velocity/acceleration measurement, can solve the problems of ignoring the error estimation of inertial devices, affecting the real-time performance of navigation, and the estimation of errors is not fast enough, etc.

Inactive Publication Date: 2013-04-17
SOUTHEAST UNIV
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Problems solved by technology

[0006] The problem to be solved by the present invention is: in the shipboard environment, the existing transfer alignment method ignores the error estimation of the inerti

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  • Quick estimation method for gyro errors in ship-borne master/sub inertial navigation transfer alignment process
  • Quick estimation method for gyro errors in ship-borne master/sub inertial navigation transfer alignment process
  • Quick estimation method for gyro errors in ship-borne master/sub inertial navigation transfer alignment process

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Embodiment Construction

[0062] After analyzing the relevant characteristics of the strapdown inertial navigation system replacing the "physical platform" in the platform inertial navigation system with a "mathematical platform", the present invention believes that in the strapdown inertial navigation system, the same data can be used for navigation calculation, And constantly adjust the mathematical platform, make full use of the high-speed performance of the computer, and quickly complete the estimation of the instrument error during the transfer alignment process.

[0063] Below in conjunction with accompanying drawing, the implementation method of the present invention is described in more detail:

[0064] figure 1 in, t 0 is the starting time of gyro constant value error estimation, t 0 ~t 1 For data storage, navigation calculation and information fusion and Update time period, t 1 ~t 2 For circular navigation calculation and information fusion based on stored information and gyroscope mea...

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Abstract

The invention discloses a quick estimation method for gyro errors in a ship-borne master/sub inertial navigation transfer alignment process, and catering to transfer alignment of ship master/sub combinations, designs a quick estimation method for the gyro errors, which is suitable for mooring/constant-speed direct flight conditions and is used for quickly estimating constant errors of sub inertial navigation gyros. Under the support of a real-time multiple task operating system, a sub inertial navigation system implements the circular navigation resolving and the information fusing for one group of data; and the high-speed performance of a computer is fully used to quickly finish the estimation of the gyro constant errors in the transfer alignment process. The method dose not change the existing algorithm of navigation resolving, dose not change the filter structure and the information matching mode in the transfer alignment information fusing algorithm, fully uses the redundant resources of the existing navigation computer, and quickens the gyro error estimation speed in the transfer alignment process.

Description

technical field [0001] The invention relates to a fast transfer and alignment method of ship-borne main / sub-inertial navigation, which is especially suitable for fast estimation of gyro errors under the condition of ship mooring or constant speed direct navigation, and is a transfer and alignment process of ship-borne main / sub-inertial navigation A fast estimation method for gyroscopic errors in . Background technique [0002] In the shipboard environment, the accuracy of the main inertial navigation system (shipboard platform inertial navigation system) is generally several orders of magnitude higher than that of the sub-inertial navigation system (such as the strapdown inertial navigation system for shipboard missiles). The process of sub-inertial navigation using the navigation information of main inertial navigation to complete initialization, misalignment angle estimation, and device error estimation is called transfer alignment. [0003] As a general and common techno...

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Application Information

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IPC IPC(8): G01C25/00G01C21/16
Inventor 刘锡祥徐晓苏张涛王立辉李瑶刘义亭
Owner SOUTHEAST UNIV
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