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Rotating modulation-based rocking base inertial navigation system coarse alignment method

An inertial navigation system and rotational modulation technology, applied in the direction of measuring devices, instruments, etc., can solve the problems of increasing the calculation amount of coarse alignment, affecting the real-time alignment, and increasing the complexity of the navigation system

Active Publication Date: 2014-02-12
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

However, this method can only suppress the zero offset of some channels, and the introduction of filters will increase the calculation amount of coarse alignment, thereby increasing the complexity of the navigation system and affecting the real-time alignment

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  • Rotating modulation-based rocking base inertial navigation system coarse alignment method
  • Rotating modulation-based rocking base inertial navigation system coarse alignment method
  • Rotating modulation-based rocking base inertial navigation system coarse alignment method

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Embodiment Construction

[0024] When a carrier such as a ship is in a small low-frequency swing and oscillation state in practical applications, the carrier attitude matrix It is no longer a constant value. To solve this problem, the local solidification IMU coordinate system p is introduced 0 To design the corresponding improved analytical method for coarse alignment.

[0025] Local solidification IMU coordinate system p 0 Is defined as: in the navigation coordinate system (geographical coordinate system) it coincides with the IMU coordinate system at the initial moment, and always remains relatively static with the geographic coordinate system, that is, the coordinate origin coincides with the local geographic coordinate system n, and the direction cosine of the n system The matrix is ​​a constant value and is a coordinate system that rotates around the geocentric inertial coordinate system i synchronously with the n system.

[0026] The average value of the coarse alignment should be based on the consta...

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Abstract

The invention provides a rotating modulation-based rocking base inertial navigation system coarse alignment method which can be used for improving the accuracy of coarse alignment in case of a rocking base. The method comprises the following steps: 1, periodically rotating double shafts of a rotary inertial navigation system according to a preset rotation scheme in a coarse alignment process; 2, solving an attitude matrix estimated value of IMU (Inertial Measurement Unit) in each sampling period of the IMU by using an analytic method; 3, performing attitude matrix updating in each sampling period according to angular velocity output by a gyroscope to solve a direction cosine matrix from a local solidification IMU coordinate system to an IMU coordinate system at the current moment; 4, solving an estimated value of the constant direction cosine matrix from the local solidification IMU coordinate system to the IMU coordinate system in the sampling period; 5, solving a final estimated value of the direction cosine matrix from the local solidification IMU coordinate system to the IMU coordinate system; 6, obtaining the attitude matrix of the IMU at the end moment of the coarse alignment.

Description

Technical field [0001] The invention belongs to the technical field of strapdown inertial navigation systems, and relates to a rough alignment method of a swing base inertial navigation system based on rotation modulation. Background technique [0002] The initial alignment process of strapdown inertial navigation system is divided into two stages: coarse alignment and fine alignment. The main task of coarse alignment is to estimate the approximate value of the attitude matrix, providing a basic reference mathematics platform for strapdown inertial navigation system; in the fine alignment stage, the error of the attitude matrix is ​​further estimated through methods such as state filtering, so as to obtain more accurate mathematics Platform, on this basis for navigation solution. The accuracy of the coarse alignment will affect the convergence speed and accuracy of the fine alignment, thereby affecting the accuracy of the navigation solution. Therefore, improving the accuracy of...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 付梦印王博邓志红周元刘彤
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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