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Low-precision inertial navigation initial alignment method based on quaternion CKF

An initial alignment, low-precision technology, applied to measuring devices, instruments, etc., can solve problems such as divergence, filter numerical instability, and high-order term truncation errors

Inactive Publication Date: 2014-07-02
HARBIN ENG UNIV
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Problems solved by technology

[0004] When the traditional nonlinear filter EKF deals with a system with strong nonlinearity, due to the truncation error of the high-order term, the filtering value will be unstable and may diverge

Method used

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  • Low-precision inertial navigation initial alignment method based on quaternion CKF
  • Low-precision inertial navigation initial alignment method based on quaternion CKF
  • Low-precision inertial navigation initial alignment method based on quaternion CKF

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Embodiment Construction

[0041] The present invention will be further described below in conjunction with accompanying drawing:

[0042] Such as figure 1 Shown: the present invention comprises the following steps:

[0043](1) Use GPS to determine the initial accuracy and latitude parameters of the carrier;

[0044] (2) Collect the carrier triaxial acceleration and magnetic force information output by the accelerometer and the magnetometer;

[0045] (3) Using the collected three-axis acceleration information of the carrier, determine the initial pitch angle α according to the following formula 0 and the initial roll angle β 0 ;

[0046] α 0 = arcsin ( f x b g ) ...

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Abstract

The invention provides a low-precision inertial navigation initial alignment method based on a quaternion CKF. The low-precision inertial navigation initial alignment method comprises the following steps: carrying out coarse alignment by utilizing measured values of an accelerometer and a magnetometer to obtain a coarse attitude matrix; taking a position and a speed error as value measurement by using accurate outside information provided by a GPS (Global Position System); carrying out nonlinear filtering by the quaternion CKF to obtain an attitude error matrix; and finally, correcting by using the attitude error matrix to obtain an accurate attitude matrix. According to the low-precision inertial navigation initial alignment method, the value measurement of the gravitational acceleration and the magnetic force, which is carried out by the accelerometer and the magnetometer, is subjected to the coarse alignment. The problems that the gyroscope performance is low under the condition of a low-precision inertial device, the rotation angle speed of the earth can not be accurately sensed and a traditional coarse alignment method can not be applied are solved; furthermore, the quaternion CKF provided by the method can be used for a non-linear model of a large angle error, can still finish alignment under the condition of a large orientation misalignment angle and has high alignment precision.

Description

technical field [0001] The invention relates to an initial alignment method of a strapdown inertial navigation system, in particular to a non-linear initial alignment method of a low-precision strapdown inertial navigation system based on quaternion CKF. Background technique [0002] Under the condition of a static base, the strapdown inertial navigation system (SINS) can roughly calculate the attitude matrix of the strapdown inertial navigation system by using the measurement values ​​of the acceleration of gravity and the angular velocity of the earth's rotation by the accelerometer and the gyroscope respectively, and perform the coarse alignment in the Fine alignment is performed on this basis. However, under the condition of using low-precision inertial devices, due to the low accuracy of the gyroscope (the accuracy is from a few tenths of an hour to hundreds of degrees), it cannot be correctly sensitive to the earth's rotation angular rate, and the interference of vario...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 周广涛孙艳涛姜鑫郝勤顺赵博李佳璇林萌萌梁宏张丽丽于春阳
Owner HARBIN ENG UNIV
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