Strapdown inertial navigation error model simulation method with specified inertial navigation position precision
A strapdown inertial navigation and error model technology, applied in the field of inertial navigation, can solve problems such as position error mismatch, high cost of rotating axis testing, and accurately describe the error characteristics of inertial devices, so as to achieve strong engineering application value and improve aircraft navigation and positioning The effect of precision
Inactive Publication Date: 2015-12-09
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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However, after the deterministic error is compensated, the random error of the inertial device becomes the main error source affecting the system accuracy, so it is difficult to describe the error characteristics of the inertial device more accurately only by the static base test; the test cost of the rotating shaft under the static base is also relatively high. high
[0004] The strapdown inertial navigation error simulation method in the existing literature generally starts with the random error modeling and simulation of the inertial device from the perspective of the random error of the inertial device, ignoring the relationship between the real inertial navigation position accuracy and the random error of the inertial device, so the final The simulated inertial navigation position error often does not match the actual inertial navigation position error, and it is difficult to directly reflect the real inertial navigation position accuracy information
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[0098] Assuming that the specified inertial navigation position accuracy is 0.001° / h, the inertial random error coefficient setting parameters are as follows according to the specified position accuracy:
[0099] (1) Initial track error:
[0100] Position error: latitude and longitude position error is 0.1m;
[0101] Speed error: Northeast sky speed error is 0m / s;
[0102] Attitude error: roll pitch heading angle error is 0.01 arc minutes.
[0103] (2) Gyroscope error:
[0104] Random constant value error is 0.001° / h;
[0105] The zero bias value is 0.001°, and the zero bias time is 100s;
[0106] The first-order Markov constant value is 0.001° / h, and the first-order Markov correlation time is 3600s;
[0107] The angular random walk is 0.001° / h.
[0108] (3) Accelerometer error:
[0109] Random constant value error is 0.00001g / h;
[0110] The zero offset is 0.00001g, and the zero offset time is 100s;
[0111] The first-order Markov constant value is 0.00001g / h, and th...
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The invention discloses a strapdown inertial navigation error model simulation method with specified inertial navigation position precision. The strapdown inertial navigation error model simulation method comprises following steps: 1) real-time acquisition of inertial acceleration information and aircraft track information with higher precision is carried out; 2) acceleration information of simulated aircraft inertial components is stimulated based on the obtained aircraft track information; 3) a strapdown inertial navitation error model is established, and a specified inertial navigation precision and inertial component random error coefficient model is established; 4) software programs are designed, and error input of a plurality of inertial navigation systems is realized; and 5) an error characteristic curve of a strapdown inertial navigation system is obtained via real-time arithmetic based on an inertial system error equation, and is applied to determination of an inertial component error model and model selection of the strapdown inertial navigation system. According to the strapdown inertial navigation error model simulation method, random error coefficients of different inertial navigation components and strapdown inertial navigation initial errors are set based on the specified inertial navigation position precision, and strapdown inertial navigation error simulation is carried out so as to obtain values close real inertial navigation position errors.
Description
technical field [0001] The invention relates to the technical field of inertial navigation, in particular to a strapdown inertial navigation error model simulation method for specifying inertial navigation position accuracy. Background technique [0002] Strapdown inertial navigation system is a system based on Newton's law of motion to realize the navigation function by reckoning. Its core sensors are two types of inertial sensors such as gyroscope and accelerometer. The inertial measurement unit composed of the above two types of sensors is directly fixed on the moving carrier, and according to the principle flow of the inertial navigation algorithm, the navigation solution is performed on the original measurement data, and the parameters such as the attitude, speed and position of the moving carrier are obtained. Strapdown inertial navigation system has been widely used in various aircraft, ships and vehicles. In the actual navigation system, there are inevitable errors ...
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Login to View More IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 廖自威李荣冰刘建业雷廷万郭毅付强王建平陆辰
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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