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Method for compensating gravity of nine-accelerometer gyro-free inertial navigation system

An accelerometer and inertial navigation system technology, applied in the field of inertial navigation, can solve the problems of affecting the output of the accelerometer, increasing the system error, and distinguishing between gravity and inertial force, etc.

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

If the system performs random motion or a combination of several types of motion, since GFINS is only composed of accelerometers, gravity and inertial forces cannot be distinguished during measurement. If gravity compensation is not performed, the output of the accelerometer will be affected, resulting in system errors. increase

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  • Method for compensating gravity of nine-accelerometer gyro-free inertial navigation system

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Embodiment Construction

[0054] The present invention will be further described below in conjunction with the accompanying drawings.

[0055] The present invention comprises the following steps:

[0056] Step 1, collecting the output signals of 9 accelerometers of the gyro-free inertial navigation system;

[0057] Step 2. Obtain the local latitude according to the GPS output

[0058] Step 3. Calculate the local absolute gravity value according to the following formula

[0059]

[0060] Among them, g 0 =9.78049, is the local latitude.

[0061] Step 4. Install the system on a static base to make it in a static state, and the accelerometer can only be sensitive to gravity. Record the output of the accelerometer at this time, and calculate the initial error conversion matrix F of the gravity to the system according to the linear velocity equation of the system.

[0062] Step 5. Calculate the angular velocity ω of the system x ,ω y ,ω z , get the rotation matrix

[0063] Ω ...

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Abstract

The invention belongs to the field of inertial navigation and in particular relates to a method for compensating gravity of a nine-accelerometer gyro-free inertial navigation system. The method comprises the following steps: collecting output signals of nine accelerometers of the gyro-free inertial navigation system; obtaining a local latitude according to output of GPS (Global Positioning System); calculating a local absolute gravity value; mounting the system on a static base, enabling the system to be in a static state, only sensing the gravity by the accelerometers, recording output of the accelerometers at the moment and calculating a primary error conversion matrix of the gravity to the system according to a linear speed equation of the system; calculating an angular speed of the system; calculating a gravity compensation value; compensating the gravity of the system. The invention discloses a new gravity estimating method. The method can be used for compensating gravity in the navigation and is capable of effectively removing the influence of the gravity on measurement results of the accelerometers, calculating simply, generating no pressure on the calculation of the system and compensating the gravity of the system in real time.

Description

technical field [0001] The invention belongs to the field of inertial navigation, and in particular relates to a gravity compensation method of a nine-accelerometer non-gyroscope inertial navigation system. Background technique [0002] Gyro-free inertial navigation system (GFINS), GFINS is a new type of navigation system that uses full accelerometers to realize the functions of ordinary inertial navigation systems. It has low cost, small size, high reliability, and good dynamic performance. A range of advantages. The idea of ​​using an accelerometer instead of a gyroscope as an angular-inertial element has a long history. Due to the limitation of the manufacturing process of the inertial element at that time, GFINS has not been practically applied. In recent years, with the continuous improvement of accelerometer manufacturing level, GFINS has gained the attention of researchers again. And the scope of application is getting wider and wider. For example, in the biological...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/16
CPCG01C21/20G01C25/005
Inventor 周广涛姜鑫孙艳涛赵博郝勤顺夏秀玮于春阳赵维珩李佳璇林萌萌
Owner HARBIN ENG UNIV
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