Orthogonalization correction method for strapdown attitude matrix in analytic expression coarse alignment

A technique of attitude matrix and rough alignment, applied in directions such as navigation through velocity/acceleration measurement, and can solve problems such as the influence of navigation accuracy

Inactive Publication Date: 2013-09-25
HARBIN ENG UNIV
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Problems solved by technology

[0012] The purpose of the present invention is to provide a method for correcting the strapdown matrix applicable to the strapdown inertial navigation system in the analytical rough alignment, which can solve the non-orthogonality of the attitude matrix of the rough alignment using the acceleration of gravity and the earth's rotation angular velocity estimation Problems affecting navigation accuracy

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  • Orthogonalization correction method for strapdown attitude matrix in analytic expression coarse alignment
  • Orthogonalization correction method for strapdown attitude matrix in analytic expression coarse alignment
  • Orthogonalization correction method for strapdown attitude matrix in analytic expression coarse alignment

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[0062] The present invention is described in more detail below in conjunction with accompanying drawing example: Orthogonal correction method of strapdown attitude matrix in analytic formula coarse alignment

[0063] Step 1: From the local latitude of the carrier get the acceleration of gravity and the Earth's angular velocity Projection on the navigation coordinate system n:

[0064] g ‾ n = 0 0 - 9.78049 T

[0065]

[0066] Step 2: Determine the third vector from the result of step 1 Projection on the navigation coordinate system n:

[0067] E ‾ n = g ‾ ...

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Abstract

The present invention relates to an orthogonalization correction method for a strapdown attitude matrix in analytic expression coarse alignment. The method comprises: adopting a gravity acceleration and an earth rotation angular velocity to determine three three-dimensional vectors; carrying out determining measurement from the three three-dimensional vectors to obtain a non-orthogonal error-containing strapdown attitude matrix, writing the non-orthogonal error-containing strapdown attitude matrix into a row vector form, carrying out an orthogonalization and normalization treatment to obtain a corrected strapdown attitude matrix, and judging whether the corrected strapdown attitude matrix meets a precision requirement according to a preset condition, wherein the process is completed if the corrected strapdown attitude matrix meets the precision requirement, and iterative computation is repeated until the judging condition is met if the corrected strapdown attitude matrix does not meet the precision requirement. With the present invention, influence of strapdown attitude matrix non-orthogonalization on the analytic expression coarse alignment measurement is solved, and carrier attitude measurement precision can be increased.

Description

(1) Technical field: [0001] The present invention relates to a carrier attitude measurement method, specifically in the analytical rough alignment, correcting the non-orthogonal error of the measured strapdown attitude matrix to improve the measurement accuracy of the strapdown attitude matrix, thereby Improve attitude accuracy. (two) background technology: [0002] Analytical coarse alignment usually uses the output of the gyroscope and accelerometer to measure the strapdown attitude matrix. Further, the attitude of the carrier can be measured from the relationship between the strapdown attitude matrix and the attitude angle of the carrier. It can be seen that strapdown attitude matrix measurement is the key to analytical coarse alignment. [0003] Due to the existence of computer calculation errors, the strapdown attitude matrix is ​​often not an orthogonal matrix. If the strapdown attitude matrix is ​​not an orthogonal matrix, errors will occur in the carrier attitude a...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
Inventor 奔粤阳刘新源鲍桂清高伟李倩于飞
Owner HARBIN ENG UNIV
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