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Method for restraining speed errors of single-shaft rotation optical fiber gyro strapdown inertial navigation system

A technology of strapdown inertial navigation and rotating optical fiber, which is used in navigation, instruments, measuring devices and other directions through velocity/acceleration measurement, and can solve the problems of not mentioning the influence of rotation modulation on the accuracy and applicability of the system's solution velocity information. , to achieve the effect of enhancing applicability and improving accuracy

Inactive Publication Date: 2013-05-08
HARBIN ENG UNIV
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Problems solved by technology

The above documents are all aimed at suppressing divergent positioning errors, and do not mention the impact of rotation modulation on the accuracy and applicability of the system's solution speed information

Method used

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  • Method for restraining speed errors of single-shaft rotation optical fiber gyro strapdown inertial navigation system
  • Method for restraining speed errors of single-shaft rotation optical fiber gyro strapdown inertial navigation system
  • Method for restraining speed errors of single-shaft rotation optical fiber gyro strapdown inertial navigation system

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Embodiment

[0105] The beneficial effects of the present invention are verified in the following manner:

[0106] (1) Under the condition of Visual C++ simulation, the simulation experiment of this method is carried out:

[0107] The carrier makes a three-axis rocking motion. The carrier swings around the heading angle, pitch angle and roll angle in a sinusoidal law, and its mathematical model is:

[0108] ψ = ψ m sin ( 2 π / T ψ + φ ψ ) + k ...

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Abstract

The invention discloses a method for restraining speed errors of a single-shaft rotation optical fiber gyro strapdown inertial navigation system. The method comprises the following steps of: 1. acquiring carrier position information through a global positioning system (GPS); 2. acquiring data output by an optical fiber gyro and a quartz accelerometer; 3. driving an inertial component to perform single-shaft forward and backward rotation and stop motion by a rotary mechanism, and adopting a rotation scheme that eight rotation and stop sequences are used as a rotation period; 4. acquiring information of linear velocity and angular velocity of the motion of measurement carriers of the optical fiber gyro and the quartz accelerometer, and performing navigation solution to obtain navigation information; and 5. constructing a Butterworth band elimination filter, and performing Butterworth filter processing on the carrier velocity obtained under a navigation system. According to the method, the Butterworth band elimination filter is designed according to the rotation angular velocity, oscillation error items related to the rotation angular velocity under the navigation system are filtered and removed, and the velocity information accuracy is improved.

Description

technical field [0001] The invention relates to a speed error suppression method for a single-axis rotating optical fiber gyro strapdown inertial navigation system based on Butterworth (Butterworth) digital filtering, and belongs to the suppression method for reducing navigation information errors in the inertial technical field. Background technique [0002] A strapdown inertial navigation system (SINS) is a fully autonomous navigation system with inertial components (gyroscopes and accelerometers) mounted directly on the carrier. It does not require any external information, uses the collection of inertial components to measure the linear motion and angular motion information of the carrier movement, and continuously outputs the speed, position and attitude information of the carrier through navigation calculations. Due to the advantages of small size, light weight, easy maintenance and high reliability, SINS is widely used in aviation, aerospace, navigation and other fiel...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C25/00
Inventor 孙枫王秋滢齐昭高伟高峰
Owner HARBIN ENG UNIV
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