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Quick dynamic alignment method

A dynamic and fast technology for navigation, measuring devices, instruments, etc. through velocity/acceleration measurement, which can solve problems such as interference affecting alignment accuracy, gravity and the angular rate of the earth's rotation

Active Publication Date: 2014-02-05
BEIJING AUTOMATION CONTROL EQUIP INST
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AI Technical Summary

Problems solved by technology

However, under the condition of shaking the base, due to the angular vibration of the carrier, the gravity measured by the inertial platform and the angular rate of the earth's rotation have great interference, which seriously affects the alignment accuracy

Method used

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Examples

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Embodiment Construction

[0135] A fast dynamic alignment method, comprising the steps of:

[0136] Step 1: Coarse Alignment

[0137] Step 1.1: Enter Information

[0138] The information that needs to be entered includes the following three categories

[0139] (a) Accelerometer data

[0140] b xk ( 2 ) , b yk ( 2 ) , b zk ( 2 ) ( k = 1 , . . . , N ( 2 ) )

[0141] The above xyz refers to the direction of acceleration, the subscript k indicates the data at the k sampling...

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Abstract

The invention belongs to alignment methods and in particular relates to a quick dynamic alignment method. The quick dynamic alignment method comprises the following steps: 1, coarsely aligning, namely 1.1, inputting information, 1.2, calculating ax, ay and az, 1.3, calculating omega x and omega z, 1.4, calculating according to a formula (1), 1.5, calculating according to a formula (2), and 1.6, calculating according to a formula (3); 2, carrying out navigation calculation; 3, calculating an intermediate variable; and 4, aligning. The quick dynamic alignment method has the beneficial effects of being capable of accurately estimating three misalignment angles of a platform system relative to a geographical system and three uncompensated platform drifts (of the platform system) under angular vibration of a carrier so as to achieve the purpose of high-precision self-alignment.

Description

technical field [0001] The invention belongs to an alignment method, in particular to a fast dynamic alignment method. Background technique [0002] Before the platform inertial navigation system can output navigation information externally, it must perform initial alignment. Under the condition of a static base, in order to complete the initial alignment, it is necessary to use the information of gravity and the angular rate of the earth's rotation to make the platform body in the platform inertial navigation system work in one or more different positions in the heading direction, thus obtaining three gyroscopes The drift and three misalignment angles of the platform system relative to the geographic system. However, under the condition of shaking the base, due to the angular vibration of the carrier, the gravity measured by the inertial platform and the angular rate of the earth's rotation are greatly disturbed, which seriously affects the alignment accuracy. In order to...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/18
CPCG01C25/005
Inventor 胡平华詹双豪赵明唐江黄鹤苗成义曲雪云李爱萍陈晓华刘东斌
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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