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Inertial frame self-alignment method based on quaternion model

A quaternion, inertial system technology, applied in the field of strapdown inertial navigation system self-alignment, can solve problems such as initial alignment result error and system accuracy decline

Active Publication Date: 2018-01-05
BEIJING UNIV OF TECH
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Problems solved by technology

But for cars with high-frequency vibrations, fighter jets in combat, ships under surges, etc., these carriers work in a dynamic environment, and the angular and linear vibrations of the carrier will cause the accuracy of the system to drop
Unfavorable interference effects such as gust or wave interference and engine idle speed may cause large errors in the initial alignment results

Method used

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  • Inertial frame self-alignment method based on quaternion model
  • Inertial frame self-alignment method based on quaternion model
  • Inertial frame self-alignment method based on quaternion model

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Embodiment Construction

[0082] The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing:

[0083] combine Figure 1~4 , the steps of the self-alignment method of the rotary strapdown inertial navigation system of the carrier aircraft under the shaking base are as follows Figure 4 As shown, the details are as follows:

[0084] (1) Obtain the longitude λ and latitude L of the position of the carrier through the global positioning system GPS, and bind them into the navigation computer;

[0085] (2) The strapdown inertial navigation system prepares for warm-up, starts the system, and collects the output angular velocity information of the gyroscope in the inertial measurement unit IMU and accelerometer output information f b (t);

[0086] (3) Process the collected data of the gyroscope and accelerometer, and use the gravity projection vector and the initial attitude quaternion to calculate the initial attitude matrix. The specific steps...

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Abstract

Disclosed is an inertial system self-aligning method based on a quaternion model. The method is realized through the following processes of: obtaining longitude [lambda] and latitude L of a position where a carrier is through a global positioning system (GPS); inputting the longitude [lambda] and latitude L into a navigational computer; preheating a strapdown inertial navigation system for preparation; starting the strapdown inertial navigation system; collecting output angular velocity information (as shown in the description) of a gyroscope in an inertial measurement unit (IMU) and output information fb(t) measured according to accelerated velocity; processing the collected data of the gyroscope and data measured according to accelerated velocity; and calculating an initial attitude matrix by utilizing a gravity projection vector and initial attitude quaternion. According to a self-aligning principle of the strapdown inertial navigation system of the inertial system, angle shaking can be effectively prevented, so that the problem that a conventional analytic self-aligning method cannot be used under dynamic interference is solved.

Description

technical field [0001] The invention relates to a strapdown inertial navigation system self-alignment technology in the case of dynamic interference, which is used for automobiles with high-frequency vibrations, fighter jets in combat, and ships under surges. Background technique [0002] The inertial navigation system is an autonomous navigation system that uses inertial measurement devices such as gyroscopes and accelerometers and initial navigation information to determine various navigation parameters during carrier operation. The inertial navigation system can not only measure linear motion and angular motion in real time and quickly, but also has a great advantage. Inertial technology is a completely autonomous measurement method that does not rely on external information such as light, electromagnetic waves, sound, and magnetic fields. So in recent years, although technologies such as satellite navigation, radio navigation and celestial navigation have developed rapid...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 裴福俊赵健刘璇
Owner BEIJING UNIV OF TECH
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