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Redundancy-configuration-based strapdown inertial navigation system single-axial rotation modulation method

A strapdown inertial navigation and redundant configuration technology, applied in the field of navigation, can solve the problems of inability to solve the failure of the inertial device system, failure to take into account both reliability and accuracy, and limit the working conditions and effects of the system, so as to achieve easy design and implementation , High engineering application value, low cost effect

Active Publication Date: 2016-01-27
HARBIN ENG UNIV
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Problems solved by technology

However, this method cannot solve the system failure problem caused by inertial device failure, and can only improve the system accuracy under the premise of normal system operation
To sum up, the existing SINS performance improvement methods cannot take into account reliability and accuracy at the same time, which limits the actual working conditions and working effects of the system

Method used

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Embodiment Construction

[0033] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0034] combine Figure 1-8 , the main steps of the inventive method are as follows:

[0035] (1) Equip the four single-degree-of-freedom gyroscopes in the strapdown inertial navigation system according to the symmetrical oblique configuration scheme. The symmetrical oblique configuration scheme involved is shown in the attached figure 2 shown;

[0036] For a pentahedron with an equilateral triangle on the side, a square bottom, and an angle of 54.73° between the side and the bottom, select the center of the bottom as the coordinate origin o, and take the two diagonals of the bottom as the x-axis, y-axis, and z-axis It forms a right-handed rectangular coordinate system oxyz with the x-axis and the y-axis. Four gyroscopes are installed with reference to the pentahedron so that the measurement axes of the four gyroscopes intersect at the origin o and are respectiv...

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Abstract

The invention aims at providing a redundancy-configuration-based strapdown inertial navigation system single-axial rotation modulation method. The method comprises employing a four-gyroscope symmetrical and sideling redundancy configuration scheme equipment strapdown inertial navitation system, specially designing a single-axial continuous rotation scheme aiming at the formed four-gyroscope redundancy system, calculating the gyroscope equivalent measure value on a carrier system according to the system scheme, substituting the gyroscope equivalent measure value into the system for navigation resolving, and continuously output the carrier attitude, speed and position navigation parameters in real time. The method is capable of improving the system reliability and guaranteeing the system to still effectively work when a single gyroscope fails, and also is capable of eliminating navigation error caused by gyroscope drifting without introducing any external information and further improving the system precision performance. The method realizes relatively comprehensive performance improvement of the navigation system, guarantees long-term effective work of the system to a great degree, and possesses extremely high engineering application value.

Description

technical field [0001] The invention relates to a navigation method, specifically a strapdown inertial navigation system navigation method. Background technique [0002] The strapdown inertial navigation system usually uses three gyroscopes installed orthogonally to each other to measure the angular motion of the carrier, and then completes the navigation solution. However, if any gyroscope fails at this time, the navigation system will not work normally, and the system reliability will not be guaranteed. Meet the actual needs of the project. On the other hand, as the main error source of the system, the gyroscope drift will cause the navigation error accumulated over time, seriously reduce the accuracy performance of the system, and lead to the failure of the navigation system that works for a long time. Increasing the number of gyroscopes to form a redundant system and realizing the optimal configuration between gyroscopes can effectively improve the reliability of the sy...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 赵琳管冬雪牟宏杰王通达康瑛瑶费再慧董铭涛刘萍于东伟蒋国桉
Owner HARBIN ENG UNIV
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