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Strapdown inertial navigation initial alignment method for antenna tracking and stabilizing platform

A strapdown inertial navigation and stable platform technology, which is applied in navigation calculation tools, navigation through velocity/acceleration measurement, measurement devices, etc., and can solve problems such as difficulty in guaranteeing orthogonality of inertial devices.

Inactive Publication Date: 2014-02-05
SHANDONG UNIV OF TECH
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  • Application Information

AI Technical Summary

Problems solved by technology

However, in the device-level rotation modulation method, the inertial device is turned over independently, and there is a problem that the orthogonality of the inertial device is difficult to guarantee.

Method used

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  • Strapdown inertial navigation initial alignment method for antenna tracking and stabilizing platform
  • Strapdown inertial navigation initial alignment method for antenna tracking and stabilizing platform
  • Strapdown inertial navigation initial alignment method for antenna tracking and stabilizing platform

Examples

Experimental program
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Embodiment Construction

[0069] The present invention will be described in further detail below in conjunction with accompanying drawing and embodiment:

[0070] Step 1. Install the SINS on the rotating chassis of the antenna pedestal. The distance from the SINS to the rotation center of the antenna pedestal chassis is ;

[0071] Step 2. Use the Global Positioning System (GPS) to determine the longitude of the location of the carrier ,latitude L ;

[0072] Step 3, perform rough alignment according to the determined longitude and latitude information and the output of the inertial device of the inertial navigation system, and obtain an approximate estimated value of the attitude matrix of the inertial measurement unit;

[0073] Step 4: Start the chassis of the antenna base to rotate counterclockwise, and the rotation angular rate is recorded as , and control the chassis of the antenna base to rotate an integer number of turns, and the number of turns is recorded as ;

[0074] Step 5. While ro...

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Abstract

The invention belongs to the technical field of inertial navigation and also provides a strapdown inertial navigation initial alignment method for an antenna tracking and stabilizing platform, which aims to further improve the precision and the speed of initial alignment of a strapdown inertial navigation system. A kalman filter state equation with a speed error as a state variable and an observation equation with a speed error as an observation value are established, and a carrier misalignment angle is estimated by a kalman filter technology and is fed back into the system for implementing initial alignment of the system. The strapdown inertial navigation initial alignment method has the main advantages that under a condition that a conventional hardware structure of the system is not changed, the initial alignment of a rotating base is implemented by fully utilizing the structural characteristic of the antenna tracking and stabilizing platform, so that the observability of the strapdown inertial navigation system is improved, and furthermore, the precision of the initial alignment of the strapdown inertial navigation system is effectively improved.

Description

technical field [0001] The invention relates to a method for determining an initial attitude in the field of navigation, in particular to a method for initial alignment of a strapdown inertial navigation rotating base applied to an antenna tracking and stabilization platform. Background technique [0002] The inertial navigation system obtains the velocity and position of the carrier through the integral operation according to the measured acceleration of the mobile carrier. Therefore, the initial value of the integral must be known, that is, the initial velocity and initial position of the carrier. In addition, in the inertial navigation system with the geographic coordinate system as the navigation coordinate system, both the physical platform and the mathematical platform are the benchmarks for measuring acceleration, and the platform must be accurately aligned and tracked to the geographic coordinate system to avoid the accelerometer caused by platform errors. Measuremen...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/16
CPCG01C21/20G01C25/005
Inventor 张华强许敬李东兴
Owner SHANDONG UNIV OF TECH
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