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
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[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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