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Secondary quick alignment method of marine strapdown inertial navigation system

A technology of strapdown inertial navigation and inertial navigation system, which is applied in the direction of measuring devices and instruments, and can solve problems such as residual misalignment angles

Inactive Publication Date: 2013-08-14
HARBIN ENG UNIV
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Problems solved by technology

However, this method is only suitable for the initial alignment of the static base, and ignores the problem of residual misalignment angles in the estimation of the filter

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  • Secondary quick alignment method of marine strapdown inertial navigation system
  • Secondary quick alignment method of marine strapdown inertial navigation system
  • Secondary quick alignment method of marine strapdown inertial navigation system

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Embodiment Construction

[0048] The present invention will be further described below in conjunction with accompanying drawing:

[0049] combine figure 1 . The present invention comprises the following steps:

[0050] Step 1: Start the strapdown inertial navigation system to fully warm up, and continuously collect the output data of the fiber optic gyroscope and the quartz flexible accelerometer.

[0051] Step 2: Process the collected data from the fiber optic gyroscope and quartz flexible accelerometer, use the inertial system alignment method to complete the coarse alignment of the strapdown inertial navigation system, and determine the attitude information of the hull at this time (pitch angle θ , roll angle γ, heading angle ψ).

[0052] Step 3: After the rough alignment is completed, enter the first fine alignment stage, continue to collect the output data of the fiber optic gyroscope and the quartz flexible accelerometer, perform navigation calculations to obtain information such as the speed,...

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Abstract

The invention provides a secondary quick alignment method of a marine strapdown inertial navigation system. The method comprises the following steps: continuously collecting output data of an optical fiber gyro and a quartz flexible accelerometer after preheating the system, and processing the collected data to finish the rough alignment of the strapdown inertial navigation system; performing primary fine alignment after the rough alignment, creating an error equation of the marine strapdown inertial navigation system, performing Kalman filtering by using a speed error as observed quantity so as to obtain an estimated value of a misalignment angle, and compensating the ship body posture; and expanding the residual misalignment angle to a new state variable by using the compensated posture as a reference posture on the basis of the primary fine alignment, and further aligning the levelness and the direction through using a speed and misalignment angle error matching method. The method disclosed by the invention can be used for accurately estimating zero offset of a horizontal accelerometer on the condition of ensuring the alignment precision and quickness.

Description

technical field [0001] The invention relates to an alignment method of a strapdown inertial navigation system for a ship, in particular to a two-time fast alignment method using speed plus misalignment angle error matching. Background technique [0002] Initial alignment is the premise of inertial navigation system navigation. Initial alignment error is one of the main error sources of inertial navigation system. Its influence on system error is not only manifested in attitude, but also in the acquisition of speed and position information. Alignment accuracy directly affects navigation accuracy. Therefore, it is particularly important to obtain an accurate initial pose before navigation. [0003] Strapdown inertial navigation is a popular technology in navigation technology now, and has been favored by more and more people in the navigation industry, and the combination of strapdown inertial navigation system (SINS) and other navigation systems can improve the initial align...

Claims

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Application Information

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IPC IPC(8): G01C25/00
Inventor 孙枫夏健钟曹通奔粤阳高伟周广涛徐博张永刚于强吴磊
Owner HARBIN ENG UNIV
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