Serial inertial navigation moving base alignment method based on switching type self-adaptive control compass

A technology of self-adaptive control and alignment of moving bases, applied to measuring devices, instruments, etc., can solve the problems of control loop runaway and time-consuming

Active Publication Date: 2015-02-11
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0006] There are two main disadvantages of this method: first, if the number of elements in the controller collection is huge, it will take a long time to traverse all the controllers once; second, if the controller collection contains unstable controllers, Then there is a risk of the control loop running away

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  • Serial inertial navigation moving base alignment method based on switching type self-adaptive control compass
  • Serial inertial navigation moving base alignment method based on switching type self-adaptive control compass
  • Serial inertial navigation moving base alignment method based on switching type self-adaptive control compass

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Embodiment Construction

[0034] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0035] Such as figure 2 As shown, the present invention proposes a method for aligning a strapdown inertial navigation base based on a switchable adaptive control compass. The method includes the following steps:

[0036] Step S101, calculating controller parameters;

[0037] The controller parameters can be obtained by expanding the theoretical optimal value, and its calculation method is as formula (1):

[0038] K 1 = K 4 = 2 σ ...

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Abstract

The invention discloses a serial inertial navigation moving base alignment method based on a switching type self-adaptive control compass. According to the method, by introducing pseudo reference quantity, pseudo error quantity and cost functions, the cost values of all standby controllers in a controller set can be calculated simultaneously, an optimal controller can be switched into a loop, and the performance of the controllers can be evaluated without switching all the controllers into the control loop, so that the risk and the time consumption caused by frequent switching are avoided. The method is simple to establish and easy to achieve in an engineering manner.

Description

technical field [0001] The invention relates to a strapdown inertial navigation system technology, in particular to a strapdown inertial navigation dynamic base alignment method based on a switching adaptive control compass. Background technique [0002] Inertial navigation system has been widely used as a kind of modern navigation equipment on various aircrafts in the military and civilian fields. The inertial navigation system is mainly divided into two categories: platform inertial navigation system and strapdown inertial navigation system. The strapdown inertial navigation system (SINS) is developed on the basis of the platform inertial navigation system. It is a frameless system consisting of three rate gyros, three linear accelerometers and a microcomputer. [0003] The strapdown inertial navigation system, like the platform inertial navigation system, can accurately provide navigation parameters such as the carrier's attitude, ground speed, longitude and latitude. I...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 韩勇强田晓春李楠谢玲陈家斌
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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