Error restraining method for fiber-optic gyroscope strapdown inertial navigation system rotating relative to geocentric inertial system
A strapdown inertial navigation and fiber optic gyroscope technology, which is applied to navigation, instruments, and measuring devices through speed/acceleration measurement, and can solve problems such as the inability to suppress the influence of system navigation accuracy and the inability to eliminate the influence of gyroscope system navigation accuracy.
A strapdown inertial navigation and fiber optic gyroscope technology, which is applied to navigation, instruments, and measuring devices through speed/acceleration measurement, and can solve problems such as the inability to suppress the influence of system navigation accuracy and the inability to eliminate the influence of gyroscope system navigation accuracy.
CN103090867AInactive Publication Date: 2013-05-08HARBIN ENG UNIV
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[0039] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0040] The present invention provides an error suppression method for an optical fiber gyro strapdown inertial navigation system that rotates relative to the earth-centered inertial system. The flow chart is as follows figure 1 As shown, the described error suppression method is realized through the following steps:
[0041] The first step is to design the four-position and eight-sequence rotation scheme of the strapdown inertial navigation system relative to the earth-centered inertial system before system navigation.
[0042] The rotation scheme of the IMU using four positions and eight rotations as a rotation cycle is:
[0043] Sequence 1, IMU starts from position A and circles oz i The shaft rotates 360° in the positive direction, and the rotational angular velocity ω bs i = ...
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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 ...
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Patent Timeline
08 May 2013
Publication
CN103090867A
- IPC
- G01C21/16; G01C25/00
- Inventors
- 孙枫; 王秋滢