Systematic compensation method of fixed-precision navigation of ship optical inertial navigation system when in long voyage

A compensation method and long-endurance technology, applied in the field of strapdown inertial navigation, can solve the problems of restricting batch equipment and unable to achieve mass production, and achieve the effect of reducing system cost, avoiding long-term stability problems, and improving reliability.

Inactive Publication Date: 2015-04-01
HEBEI HANGUANG HEAVY IND
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Problems solved by technology

In order to improve the long-term navigation accuracy of inertial navigation, an extremely high-precision gyroscope is used to ensure that the system navigation error does not exceed the tolerance. Due to the constraints of technology and cost, the extremely high-precision gyroscope cannot be mass-produced, which seriously restricts the system. Batch equipment

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  • Systematic compensation method of fixed-precision navigation of ship optical inertial navigation system when in long voyage
  • Systematic compensation method of fixed-precision navigation of ship optical inertial navigation system when in long voyage
  • Systematic compensation method of fixed-precision navigation of ship optical inertial navigation system when in long voyage

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[0015] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0016] Starting from the basic principle of the single-axis rotation modulation strapdown inertial navigation system, the invention proposes a new indexing method for the system-level single-axis rotation modulation strapdown inertial navigation system, which is used in the optical gyro inertial navigation system of the surface ship. The optical gyro single-axis rotary inertial navigation system is a strapdown inertial navigation system. Among them, the inertial measurement unit composed of an optical gyroscope and an accelerometer is relatively fixedly connected to the carrier (it can rotate around the celestial axis), and the navigation computer calculates the carrier's attitude, speed, position and other navigation information based on the measured angular velocity information and acceleration signals.

[0017] In the system, the inertial measurement...

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Abstract

The invention relates to a systematic compensation method of fixed-precision navigation of a ship optical inertial navigation system when in long voyage. The method comprises the following steps: step I, determining a coordinate system of a ship, and marking the head direction of the system; step II, installing an optical gyroscope and a gauge on a high-strength high-precision hexagonal body; step III, debugging a single-shaft rotating mechanism control system, and designing a transposition scheme by utilizing a mature PID control algorithm; step IV, fixedly installing an IMU to a table-board of a transposition mechanism; step V, acquiring original data of a strap-down inertial navigation system, processing the acquired data, such as temperature compensation, sailing direction effect compensation, systematic calibration and the like; step VI, updating an attitude and calculating speed and position in the design of a pure inertial system in a single-shaft rotating modulation system; and step VII, demodulating the single-shaft rotation in real time. The constant high precision and stability of the inertial navigation system on a working carrier when a water ship is in long voyage can be guaranteed.

Description

technical field [0001] The invention belongs to the technical field of strapdown inertial navigation, and relates to a system-level compensation method for ships based on an optical gyroscope for long-range and time-guaranteed precision navigation. Background technique [0002] Strapdown inertial navigation is an autonomous navigation system. Due to its simple structure design and the rapid development of modern high-speed computers, the strapdown inertial navigation system that relies on high speed and precise calculation to achieve navigation gradually replaces the traditional platform. inertial navigation system. However, the development of high-precision optical inertial devices cannot be greatly improved in a short period of time. Therefore, a strapdown inertial navigation system that relies on a rotation modulation scheme to eliminate the drift of inertial devices was born. [0003] The invention is mainly applied to surface warships that need to navigate for a long t...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 乔海岩韩邦杰可伟李晓霞罗晓炜
Owner HEBEI HANGUANG HEAVY IND
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