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Dual-inertial navigation combination spin modulation navigation and online relative performance assessment method

A technology of rotation modulation and dual inertial navigation, which is applied in the field of online evaluation of inertial navigation performance, and can solve problems such as gyro zero bias changes, affecting navigation accuracy, and not involving

Active Publication Date: 2015-09-09
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

[0005] These two types of tests are offline tests before the official application of the inertial navigation system. The problem of the offline test is that even if the accuracy of the inertial navigation is up to the standard in the offline test, the zero offset of the gyro and the meter will change when the inertial navigation system works for a long time. , will directly affect the navigation accuracy, in addition, inertial navigation failure may occur, causing navigation errors
[0007] In the CNKI database, "A Dual Inertial Navigation Method" (Liu Weiren, Wang Ning, Liu Guobin, Nian Haitao, Ai Guangbin; Chinese Journal of Inertial Technology; February 2014 No. 1) discloses a Using the fixed north inertial navigation system and the platform azimuth rotating inertial navigation system to carry out information fusion to improve navigation accuracy, but it does not involve a dual inertial navigation joint rotation modulation navigation and online relative performance evaluation method proposed in this paper

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[0071] A preferred mode of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0072] Step 1: Coordinate system definition

[0073] Define the navigation coordinate system (n system) as the local horizontal geographic coordinate system, the coordinate axes point to north-east direction-ground direction (N-E-D) respectively, and the coordinate axes of the carrier coordinate system (b system) are along the roll axis-pitch axis- The yaw axis (front-right-down), the inertial measurement unit (IMU) coordinate system of inertial navigation system 1 and 2 are respectively s 1 , s 2 , the coordinate axes point to the same definition as the carrier coordinate system.

[0074] Step 2: Joint rotation modulation strategy orchestration

[0075] Inertial navigation systems 1 and 2 respectively perform 4-position and 8-sequence rotation modulation transposition around the azimuth axis, and inertial navigation systems 1 and 2 respe...

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Abstract

The invention discloses a dual-inertial navigation combination spin modulation navigation and online relative performance assessment method for solving the problem of difficulty in assessing inertial navigation performance. By the steps of coordinate system defining, combination spin modulation strategy arrangement, combination system state equation determination, measurement equation determination and Kalman filtering, online assessment of the inertial navigation performance is realized, and an information fusion effect among multiple inertial navigation systems is improved. The assessment method can be used for assessment of the inertial navigation system relative performance under long-endurance and high-precision navigation conditions and inertial navigation system fault diagnosis, and has positive significance to ensuring navigation precision under the long-endurance condition.

Description

technical field [0001] The invention relates to an online evaluation method for inertial navigation performance, in particular to a dual inertial navigation joint rotation modulation navigation and online relative performance evaluation method. Background technique [0002] The inertial measurement unit (IMU) of the inertial navigation system is composed of a gyroscope and a meter. The accuracy of the gyroscope and the meter determines the performance of the inertial navigation system, and the inertial navigation performance determines the accuracy of navigation. Before the inertial navigation system is configured in a specific application environment, performance testing is required. At present, there are generally two types of tests for inertial navigation performance at home and abroad: [0003] 1. Device level testing. It mainly conducts single-device testing for gyroscopes and adding meters, and constructs inertial measurement units by testing and screening high-precis...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 吴文启王林潘献飞何晓峰胡小平
Owner NAT UNIV OF DEFENSE TECH
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