Optimized SINS sculling compensation method for setting frequency point under highly dynamic environment

Abstract

The invention relates to an optimized SINS sculling compensation method for a setting frequency point under a highly dynamic environment. The method comprises the steps of (1) selecting a to-be-optimized frequency point [ohm]0; (2) establishing a group novel calculation equations for an algorithm coefficient of to-be-optimized carrier movement main frequency point [ohm]0 based on error expression of sculling compensation algorithm in a conventional and classical sculling method, solving to obtain a novel sculling algorithm coefficient by combining the equations, wherein constraint conditions are added in the novel calculation equations, so that the algorithm error has the minimum value at the to-be-optimized carrier movement main frequency point [ohm]0; and (3) substituting the novel obtained algorithm coefficient into an estimated value expression of the sculling compensation in the classical sculling algorithm to obtain a novel and optimized sculling compensation term in speed calculation of the SINS, and performing sculling compensation by using the obtained sculling compensation term. The method is simple in principle and can make the speed calculation precision of the SINS reach a local optimization at the setting frequency point by optimizing the sculling compensation algorithm coefficient, thereby improving the speed calculation precision at the dynamic environment of the carrier.

Description

technical field [0001] The invention mainly relates to the field of strapdown inertial navigation systems, in particular to a roll compensation method used in strapdown inertial navigation systems in high dynamic environments. Background technique [0002] Inertial Navigation System (INS) is a navigation device that uses gyroscopes and accelerometers to measure the angular motion and linear motion of the carrier, and calculates the instantaneous attitude, velocity and position of the carrier through integral calculations. It completely relies on its own sensors to complete navigation tasks, without relying on any external information, and does not radiate any energy. It is a fully autonomous navigation system with good concealment, anti-interference, and is not restricted by any weather conditions. The advantages. [0003] Strapdown Inertial Navigation System (SINS) is an inertial navigation system that connects inertial devices to the system, which puts forward higher requ...

AI Technical Summary

Problems solved by technology

This puts forward higher requirements on the hardware sampling and solving capabilities of the navigation system, increases the hardware cost and design complexity, and also affects the versatility of the inertial navigation system

At the same time, under a certain environment and power consumption requirements, the improvement of hardware capabilities is limited, and it may not be able to meet the speed calculation accuracy requirements in a high dynamic environment.

[0005] In short, in a high-dynamic environment, especially in a high-frequency vibration environment, the accuracy of the existing classic roll compensation algorithm of the strapdown inertial navigation system decays exponentially and rapidly with the increase of the environmental dynamic frequency, and the navigation solution can be improved by improving the hardware level. Although the speed can improve the accuracy of the algorithm to a certain extent, there are disadvantages such as high cost and complex implementation in actual implementation, which is not conducive to the low-cost and mass production of navigation systems

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