Real-time measuring method of carrier attitude in transverse coordinate system of inertial navigation system

Abstract

The invention belongs to the technical field of polar region navigation of an inertial navigation system, in particular relates to a real-time measuring method of carrier attitude in a transverse coordinate system of the inertial navigation system, wherein the inertial navigation system uses the relationship of an inertial measurement unit output value in a transverse geographic coordinate system for real-time measuring of an attitude angle of a carrier relative to the transverse coordinate system. The real-time measuring method is as follows: measuring the transverse speed of the carrier; updating the transverse longitude and transverse geographic latitude of the position of a ship; obtaining a projection of earth's angular velocity in the navigation system in a polar region mode; obtaining a projection of angular velocity of a navigation coordinate system relative to an inertial coordinate system in a carrier coordinate system; obtaining angular velocity of the carrier relative to the navigation system; measuring a strapdown attitude matrix of the carrier; and measuring the attitude angle of the carrier relative to the transverse coordinate system. The real-time measuring method can realize High altitude real-time navigation, provides a mathematical model for a high latitude strapdown inertial navigation system, and avoids the problem that a common inertial navigation system cannot navigate in a high latitude region for the reason of calculation overflow.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation system polar region navigation, and specifically relates to an inertial navigation system that uses the relationship between the output value of an inertial measurement unit in the horizontal geographic coordinate system to measure the attitude angle of the carrier relative to the horizontal coordinate system in real time. A method for real-time measurement of body attitude in the abscissa system. Background technique [0002] The inertial navigation system is a navigation device that uses gyroscopes and accelerometers to measure the angular motion and linear motion of the carrier, and obtains the instantaneous attitude, velocity and position of the carrier through integral calculations. It completely relies on its own sensitive devices to complete navigation tasks without relying on any external Information does not radiate any energy outside, it is a completely autonomous navigation ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a real-time measurement method of the attitude of the body in the abscissa system of the inertial navigation system in order to solve the problem that the navigation solution method of the conventional inertial navigation system is not applicable when the ship enters the polar region.

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