Initial alignment method of speedometer-assisted strapdown inertial navigation system during running

A strapdown inertial navigation and initial alignment technology, applied in the direction of measuring devices, instruments, etc., can solve problems such as the influence of alignment accuracy, the decrease of reference vector measurement accuracy, and the inability to complete rough alignment

Active Publication Date: 2014-04-23
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the vehicle is disturbed by shaking (such as people walking, cargo unloading, etc. will cause obvious shaking of the vehicle body), the measurement accuracy of the reference vector (especially the earth's rotation angular velocity) will decrease significantly
Under such conditions, the traditional analytic initial alignment algorithm will affect the alignment accuracy, and even cannot complete the coarse alignment

Method used

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  • Initial alignment method of speedometer-assisted strapdown inertial navigation system during running
  • Initial alignment method of speedometer-assisted strapdown inertial navigation system during running
  • Initial alignment method of speedometer-assisted strapdown inertial navigation system during running

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0164] Under a group of simulation environments, carry out Matlab simulation experiment to the invention:

[0165] Simulate the start-up process of the vehicle, the vehicle-mounted inertial navigation system performs rough alignment in a vibration environment, and after 40 seconds of rough alignment, the 2 Accelerate and start for 20s, then move at a speed of 10m / s at approximately constant speed, and the fine alignment time is 10min.

[0166] The vehicle is mainly affected by the speed change caused by the high-frequency vibration of the engine when the engine is turned on. A mathematical model is established:

[0167]

[0168] x, y, and z represent the right, front, and upper positions of the vehicle respectively. According to the characteristics of the vehicle engine, the parameters are set as follows: A RHx =0.1m / s, A RHy =0.1m / s, A RHz =0.2m / s; f RHx =50Hz, f RHy =50Hz, f RHz =100Hz; It is a random phase that obeys the uniform distribution on [02π].

[0169] T...

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Abstract

The invention discloses an initial alignment method of a speedometer-assisted strapdown inertial navigation system during running. The method comprises coarse alignment and fine alignment. The method disclosed by the invention can effectively solve the problem of initial alignment of a vehicle during running. High-precision alignment can be quickly realized by the strapdown inertial navigation system under the help of the speedometer without special movements or stop of the vehicle or external assistant information such as road signs.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation initial alignment, and in particular relates to an odometer-assisted vehicle-mounted strapdown inertial navigation system initial alignment method during travel. Background technique [0002] Before the on-board strapdown inertial navigation system enters the navigation work, initial alignment is required. Accuracy and speed are two important performance indicators of initial alignment. In order to enhance the survivability of combat vehicles in modern warfare, it is required that the vehicle-mounted strapdown inertial navigation system can complete the initial alignment in a moving state, which is of great significance for improving the rapid maneuverability of the vehicle. When the vehicle is moving, it is affected by the motion acceleration interference, and completing the initial alignment in a short time has always been one of the hotspots in the field of initial alignment. Align...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 程向红胡杰
Owner SOUTHEAST UNIV
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