Rocket sled orbital coordinate system-based locating method of inertia measurement system
A technology of orbital coordinate system and inertial measurement, applied in the direction of measuring devices, instruments, etc., can solve the problems of speed calculation error, lack of three-dimensional space position error, speed error attitude angle error, linear track height error, etc.
Active Publication Date: 2014-07-30
BEIJING INST OF AEROSPACE CONTROL DEVICES
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Problems solved by technology
[0014] This method is suitable for orbits parallel to the geoid after taking into account the radius of curvature, but there is an altitude error for straight orbits
[0015] (2) Due to the error in speed calculation, it will cause position error
In addition, because it is a scalar operation, there is no direction information, and the position and velocity information obtained by the solution are all one-dimensional information, lacking position error, velocity error and attitude angle error information in three-dimensional space
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[0087] The track used in the rocket sled test is a straight line, such as figure 2 Medium P 0 P 1 Indicates the orbit of the rocket sled, where point P is the point of tangency between the orbit and the surface of the earth. image 3 The relationship between the orbital coordinate system and the geographic coordinate system is described in , so that the transformation matrix from the orbital coordinate system to the geographic coordinate system can be determined The relationship between the orbit pitch angle and the running distance is as follows: Figure 4 It can be seen from the figure that the pitch angle changes from a negative value to a positive value from the initial position to the end zone. Figure 5 The fitted gravity acceleration model and the fitted gravity acceleration residual are respectively described in Figure 5 It can be seen that the difference between the fitted curve and the measured value is less than 1 μGal. The navigation calculation results aft...
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The invention relates to a rocket sled orbital coordinate system-based locating method of an inertia measurement system. The locating method comprises the following steps: (1) setting the rocket sled orbital coordinate system; (2) performing self alignment or transfer alignment on the inertia measurement system to obtain initial values of three attitude angles of a rocket sled in the orbital coordinate system; (3) calculating components of the earth rate and the gravitational acceleration in the rocket sled orbital coordinate system, combining the output of a strap-down gyroscope in the inertia measurement system and updating the three attitude angles of the rocket sled in the rocket sled orbital coordinate system; (4) calculating a posture transformation matrix from the rocket sled orbital coordinate system to a strap-down noumenon coordinate system by utilizing the updated attitude angles obtained in the step (3); and (5) obtaining the accelerated speed of the rocket sled in the rocket sled orbit by utilizing the posture transformation matrix obtained in the step (4) and the components of the gravitational acceleration obtained in the step (3) in the orbital coordinate system and by combining the output of a strap-down table in the inertia measurement system, so as to obtain the speed and the position of a rocket sled body in the rocket sled orbit.
Description
technical field [0001] The invention relates to a navigation calculation method for an inertial measurement system based on the orbital coordinate system of a launch point of a rocket skid, which can be used in the accuracy evaluation of the inertial measurement system and the landing point accuracy evaluation of the inertial navigation system. Background technique [0002] The rocket sled test has the ability to produce comprehensive conditions such as large overload, high speed, strong vibration and shock, and can simulate the real flight environment of the missile most realistically. Through the test, various performance indicators and accuracy of the inertial measurement system can be assessed under comprehensive environmental conditions, and the correctness of the error model of the inertial measurement system can be verified under high dynamic conditions, especially in the case of large overload, the amplification effect of high-order terms can be Determining the influ...
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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 魏宗康刘璠赵龙
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES