Attitude obtaining method of micro-inertia sailing attitude reference system

Abstract

The invention discloses an attitude obtaining method of a micro-inertia sailing attitude reference system. The method comprises the following steps: 1, obtaining an attitude angle initial value of a carrier according to carrier acceleration information collected by a sensor and three-dimensional magnetic field intensity information, and obtaining a system attitude matrix at the current moment according to the attitude angle initial value; 2, obtaining gyroscopic drift error compensation amount according to the system attitude matrix, and conducting compensation on data output by a gyroscope according to a gyroscopic drift error adjusting model; 3, updating a system attitude matrix of the next moment according to data which are output by the gyroscope and obtained after compensation, and obtaining an attitude angle of the carrier according to the updated attitude matrix. By means of the attitude obtaining method, the problems that a sailing attitude reference system is low in attitude calculation precision and cannot meet engineering application due to the fact that an MEMS gyroscope is low in precision and large in shift error are solved; the MEMS gyroscope can be inhibited from shifting, and attitude calculation precision can be improved; high engineering application value and promotional value are achieved.

Description

technical field [0001] The invention belongs to the technical field of navigation, and more specifically relates to an attitude acquisition method of a micro-inertial attitude reference system. Background technique [0002] In the inertial navigation system, the attitude is an important parameter to reflect the movement of the carrier. Usually, the attitude solution is to calculate the attitude matrix of the carrier in real time based on the data of the gyroscope and the speed and position information of the carrier, so as to realize the real-time follow-up of the navigation coordinate system to the geographic coordinate system and the real-time tracking of the carrier. Attitude calculation (pitch angle, roll angle and heading angle). The attitude accuracy has an important impact on the speed, position calculation, identification and tracking, motion trajectory, and performance analysis of the carrier. However, due to the limited accuracy of gyroscopes and accelerometers, a...

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Problems solved by technology

[0003] Aiming at the defects of the prior art, the purpose of the present invention is to provide a method for acquiring the attitude of the micro-inertial attitude reference system, which aims to solve the problem of attitude calculation of the attitude reference system due to the low precision of the MEMS gyroscope and the large drift error in the prior art. Technical issues with lower accuracy

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