Error restraining method for fiber-optic gyroscope strapdown inertial navigation system rotating relative to geocentric inertial system

Abstract

The invention discloses an error restraining method for a fiber-optic gyroscope strapdown inertial navigation system rotating relative to a geocentric inertial system. The method comprises the specific steps of firstly, determining a rotating scheme, then, establishing an initial strapdown transfer matrix according to initial position parameters of a carrier, and then calculating to obtain an initial transfer matrix of the inertial navigation system; and then, resolving position information of the carrier and the transfer matrix in real time according to the strapdown inertial navigation system in a rotating process of a rotating mechanism, and updating a rotating angular speed of the rotating mechanism at next time until finishing a modulating process of the rotating of the modulation type strapdown inertial navigation system relative to the inertial system. According to the error restraining method, the influence of each constant error item of inertial devices on the navigation precision of the system can be completely eliminated, particularly a gyroscope scale factor error, an installation error and an earth rotation speed coupling item error are eliminated, and the navigation precision of the inertial navigation system is improved.

Description

technical field [0001] The present invention designs an inertial navigation system error suppression method based on rotation modulation, more precisely, it is a method for suppressing the fiber optic gyroscope strapdown inertial navigation system error through a three-axis rotation modulation method relative to the geocentric inertial system . Background technique [0002] The strapdown inertial navigation system (SINS) is a fully autonomous navigation system. It uses inertial sensitive elements (gyroscopes and accelerometers) to measure the linear motion and angular motion of the carrier relative to the inertial space, and under known initial conditions, it is calculated by computer. The navigation parameters such as the speed, position and attitude of the carrier. Because the strapdown inertial navigation system has the characteristics of small size, light weight, good concealment, low manufacturing and maintenance costs, and high reliability, it has been widely used in ...

AI Technical Summary

Problems solved by technology

The disadvantage of the above two patent applications is that it is impossible to suppress the impact of the IMU constant value error on the celestial axis on the system navigation accuracy

(3) National University of Defense Technology doctoral dissertation "Research on Four-Frequency Laser Gyro Rotary Inertial Navigation System", this article mainly discusses the single-axis and dual-axis rotation modulation methods relative to the geographic system rotation by taking the rotation modulation method of the electrostatic gyroscope as an example, but It is still impossible to eliminate the influence of the coupling error term of the gyroscope constant value error and the earth's rotation angular velocity on the system navigation accuracy

Images