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A method for state switching of long-endurance inertial navigation system

An inertial navigation system and state switching technology, applied in the field of inertial navigation, can solve problems such as lack of rationality and large overshoot errors, and achieve the effects of avoiding state switching, weakening dynamic overshoot errors, and improving performance

Active Publication Date: 2018-01-09
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The traditional state switching basis directly judges the state based on the acceleration of the carrier. This switching basis is unreasonable and is easily affected by external random interference signals, resulting in frequent state switching of the inertial navigation system and large overshoot errors.

Method used

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  • A method for state switching of long-endurance inertial navigation system
  • A method for state switching of long-endurance inertial navigation system
  • A method for state switching of long-endurance inertial navigation system

Examples

Experimental program
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specific Embodiment 1

[0040] Specific Embodiment 1 Mainly when the carrier performs weak maneuvering for a long time, the state switching of the present invention is verified based on the effect. The initial velocity of the carrier is 0, and the inertial navigation system remains in the damping state. At 5h, the carrier starts to move at 0.05m / s 2 Eastward acceleration to maneuver for 100s, and then the carrier keeps moving in a straight line at a constant speed. The schematic diagram of the northward misalignment angle curve when using the state switching basis of the present invention and the traditional state switching basis is as follows figure 2 As shown, the black line in the figure is the northward misalignment angle curve under the condition of no damping, the blue line represents the northward misalignment angle curve when the traditional state switching basis is adopted, and the green line is the northward misalignment angle when the state switching basis of the present invention is adop...

specific Embodiment 2

[0041] The specific embodiment 2 mainly verifies the state switching of the present invention based on the effect when the carrier is subjected to a short-term strong maneuvering movement caused by external interference. The initial velocity of the carrier is 0, and the inertial navigation system remains in the damping state. 2 Eastward acceleration of 2s for a brief maneuver, and then the carrier at 0.2m / s 2 With a westward acceleration of 2 s, the maneuvering process roughly imitates the maneuvering process when the carrier is subjected to instantaneous disturbance. The schematic diagram of the northward misalignment angle curve when using the state switching basis of the present invention and the traditional state switching basis is as follows image 3 As shown, the black line in the figure is the northward misalignment angle curve under the condition of no damping, the blue line represents the northward misalignment angle curve when the traditional state switching basis i...

specific Embodiment 3

[0049] The third specific embodiment mainly tests the effect of the state switching overshoot compensation method designed in the present invention. The overshoot compensation effect of north misalignment angle state switching is as follows: Figure 5 , where the black thin solid line represents the northward misalignment angle curve without damping; the dotted line, dotted line and dotted line represent the northward misalignment angles when the carrier velocity is 0, 5m / s and 10m / s under the damping state Quasi-angle curve; under the same carrier speed, the result before compensation is represented by a thick line, and the result after compensation is represented by a thin line. Since the curves are relatively dense, in order to better display the compensation effect, Figure 5A partial enlarged view is also given in , and the undamped curve is not drawn in the partial enlarged view. Figure 5 The three thin lines in the figure are almost completely overlapped, indicating ...

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Abstract

The invention provides a method for switching states of a long-endurance inertial navigation system. The method comprises steps as follows: step one, whether state switching should be performed on the inertial navigation system is judged according to the state switching evidence, and the state switching evidence is shown in the formula (6): the absolute value of the difference between Vx<c>(t) and Vx<c>(t-w) is larger than or equal to delta Vth (6), wherein Vx<c>(t) is a speed resolving value of the inertial navigation system at the current moment, w is the set window width, and delta Vth is the set threshold value; when the formula (6) is met, the inertial navigation system works in an undamped state, and otherwise, the inertial navigation system works in a damped state; step two, if state switching is required according to judgment in the step one, the inertial navigation system performs state switching, and dynamitic overshooting of the system is compensated. The state switching evidence is set according to the conclusion that the state overshooting error in the damped state is determined according to the speed variation, and judgment of the state switching is realized according to the set evidence. Wrong state switching can be effectively avoided, the dynamitic overshooting error after switching is remarkably reduced, and the performance of the inertial navigation system is improved.

Description

technical field [0001] The invention relates to a method for state switching of a long-duration inertial navigation system, which is applicable to various inertial navigation systems and belongs to the technical field of inertial navigation. Background technique [0002] The inertial navigation system is a critically stable system. Due to the influence of adding meters and gyro errors, there are oscillation errors in the output of the inertial navigation system. In order to suppress the oscillation error, it is necessary to introduce damping into the inertial navigation system. The introduction of damping destroys the original Shura tuning condition of the inertial navigation system, making the acceleration of the carrier affect the misalignment angle. In order to avoid this adverse effect, the inertial navigation system needs to switch between the undamped state and the damped state. When the carrier is static, the inertial navigation system works in the damped state to sup...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor ηŽ‹εšδΈ°η’θ‚–ηƒœι‚“εΏ—ηΊ’
Owner BEIJING INSTITUTE OF TECHNOLOGYGY