A Method of Measuring the Attitude and Angular Velocity of a High-Speed ​​Rotating Body Using Redundant Oblique Configuration of Gyroscopes

Abstract

The invention belongs to the field of inertial navigation, and particularly relates to a method for measuring a posture and an angle speed of a high-speed rotating body by a gyro redundant oblique configuration mode. The method comprises the following steps: determining an initial position parameter of a carrier by virtue of a GPS; collecting data output by an optical fiber gyroscope and a quartz accelerometer; calculating a gravity disturbance value of an alignment point according to longitude and latitude values determined by the GPS; compensating the output of the accelerometer; finishing coarse alignment of the system by an analytical method, and primarily determining posture information of the carrier; finishing coarse alignment, building an initially aligned nonlinear state error equation of a strapdown inertial navigation system; filtering by virtue of a UKF filtering method; and correcting a strapdown inertial matrix of the system by virtue of the estimated platform misalignment angle, thus obtaining an accurate initial strapdown matrix, and finishing high-accuracy initial alignment. An oblique gyroscope is adopted; and other control modes are not added, so that no new error is introduced; the calculation is simple; and the price is low.

Description

technical field [0001] The invention belongs to the field of inertial navigation, and in particular relates to a method for measuring the posture and angular velocity of a high-speed rotating body by adopting a gyroscope redundant oblique configuration mode. Background technique [0002] The attitude and angular velocity measurement of high-speed rotating bodies has always been a difficult point. For example, the roll angular rate of a rotating bomb can be as high as 20 revolutions / second (about 7200 degrees / second), while the angular velocity measurement range of ordinary gyroscopes is generally only a few hundred degrees per second. , there is a large gap. Although some special laser gyroscopes, fiber optic gyroscopes or micromachined gyroscopes have large ranges, the large ranges usually lead to reduced resolution, poor linearity and reliability, and increased weight or volume of the gyroscope. [0003] The gyro-free measurement method that uses an accelerometer instead ...

AI Technical Summary

Problems solved by technology

This active anti-rotation method is directly effective, but in the actual use process, the disadvantages are also obvious: (1) A servo motor link is added, which reduces the reliability of the entire system; (2) Due to the high rotation speed, the control is difficult If it is not properly controlled, it will have a counterproductive effect; (3) The volume and weight of the navigation system will increase accordingly, which will affect the range of the projectile

[0005] Other traditional navigation methods, such as geomagnetic navigation, astronomical navigation, and GPS navigation, have problems such as poor real-time performance and weak anti-interference ability, and cannot achieve real-time, high-speed, and accurate angular velocity and attitude measurement of rotating carriers. This makes the subsequent guidance process Therefore, it is imminent to develop a method that can accurately and effectively measure the angular velocity and attitude of a high-speed rotating body

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