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Initial alignment and self-calibration method of double-shaft rotation type strapdown inertial navigation system

A strapdown inertial navigation and initial alignment technology, which is used in navigation, measurement devices, instruments, etc. through velocity/acceleration measurement. It can solve problems such as changes in inertial device errors, and achieve the effect of improving positioning accuracy and eliminating influence

Inactive Publication Date: 2013-12-18
HARBIN ENG UNIV
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Problems solved by technology

Therefore, before the strapdown inertial navigation system leaves the factory, the device error needs to be calibrated, but after the strapdown inertial navigation system is put into use, the calibration result will change with time, and the inertial device error will also change slightly after each startup

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  • Initial alignment and self-calibration method of double-shaft rotation type strapdown inertial navigation system
  • Initial alignment and self-calibration method of double-shaft rotation type strapdown inertial navigation system
  • Initial alignment and self-calibration method of double-shaft rotation type strapdown inertial navigation system

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Embodiment Construction

[0038] The present invention will be described in detail below in conjunction with specific embodiments.

[0039] combine figure 1 , the concrete steps of the present invention are:

[0040] Step 1: Start the dual-axis rotary SINS and fully warm up.

[0041] Step 2: The two-axis rotary strapdown inertial navigation system uses the output data of the gyroscope and accelerometer to perform a 20-minute analytical coarse alignment to determine the initial attitude of the inertial navigation system. Start the initial alignment and self-calibration procedures of the strapdown inertial navigation system based on the Kalman filter. The program can use the Kalman filter method to realize the optimal estimation of the system state during the system transposition process.

[0042] Firstly, the state equation of the Kalman filter equation of the two-axis rotary strapdown inertial navigation system is established as follows:

[0043] X · ...

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Abstract

The invention discloses an initial alignment and self-calibration method of a double-shaft rotation type strapdown inertial navigation system. For an inertial navigation system, inertial device errors and misalignment angles are main factors capable of influencing the positioning accuracy of the system; for meeting requirements of long navigation time and high accuracy, the inertial device errors and the misalignment angles can be calibrated so as to guarantee the positioning accuracy of the system. According to a transposition scheme disclosed by the invention, the observable degree of the inertial navigation system can be maximally improved without external auxiliary information, not only can the misalignment angles be rapidly and accurately calibrated, but also the main inertial device errors including constant gyroscopic drift errors, accelerometer zero errors, gyroscope scale factor errors and the like can be calibrated, and the positioning accuracy of the strapdown inertial navigation system can be greatly improved after the errors are compensated.

Description

technical field [0001] The invention relates to a method capable of quickly and accurately performing initial alignment and self-calibration on a double-axis rotary strapdown inertial navigation system. Background technique [0002] The inertial measurement unit of the strapdown inertial navigation system is directly connected to the carrier, so the output of the inertial measurement unit is the angular velocity and acceleration of the carrier relative to the inertial space, and the navigation computer converts the acceleration data measured in the carrier coordinate system into navigation coordinates The speed information of the carrier is obtained by integral calculation under the system, and the position information of the carrier is obtained by integral calculation again. Because the strapdown inertial navigation system does not rely on external information for assistance, and has the characteristics of autonomy and concealment, the system is widely used in many fields s...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/16
Inventor 于飞孙骞张亚王罡奔粤阳周广涛夏健钟鲍桂清史宏洋阮双双
Owner HARBIN ENG UNIV
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