Method for modulating angular movement of isolation carrier in inertial navigation system through rotation

Abstract

The invention discloses a method for modulating angular movement of an isolation carrier in an inertial navigation system through rotation. The method comprises the steps of calculating rotation angular velocity, relative to a navigation coordinate system, of a rotating platform at the k control moment according to the rotating scheme of the rotating platform; controlling the rotating platform to rotate, so that an IMU coordinate system p coincide with a carrier coordinate system b; modulating the inertial navigation system to enter the navigation state through rotation, so that control angular velocity of an inner ring shaft and control angular velocity of an outer ring shaft in the rotating platform within the first control cycle are obtained; predicting movement angular velocity, relative to the navigation coordinate system, of the carrier within the (k+1) control cycle and rotation control angular velocity, relative to the carrier coordinate system, of the rotating platform; obtaining the control angular velocity of inner ring shaft and the control angular velocity of the outer ring shaft in the rotating platform; controlling the control angular velocity of inner ring shaft and the control angular velocity of the outer ring shaft, and eliminating influence of the angular movement of the carrier, so that isolation of angular movement of the carrier is achieved. By means of the method for modulating angular movement of the isolation carrier in the inertial navigation system through rotation, the rotation modulation effect is guaranteed, and precision of the navigation system is improved.

Description

technical field [0001] The invention relates to a method for isolating angular motion of a carrier in a rotation modulation inertial navigation system, belonging to the field of rotation modulation inertial navigation systems. Background technique [0002] Inertial navigation system is a complex high-precision electromechanical integrated system, which is widely used in land, sea, air and space fields because of its autonomy and passivity. However, the error of the inertial navigation system will continue to accumulate over time, and its positioning accuracy often cannot meet the accuracy requirements of long-duration navigation. The error of the inertial sensor is the main determinant of the error of the inertial navigation system. Improving the precision of inertial sensitive components from the process is difficult, long cycle and high cost. Therefore, after the precision of the inertial sensitive element reaches a certain requirement, the system technology is usually u...

AI Technical Summary

Problems solved by technology

However, in actual engineering applications, the carrier is moving, so that the rotation of the rotating platform relative to the navigation coordinate system is different from the design of the rotation scheme, which has a non-negligible impact on the effect of rotation modulation

Therefore, the error compensation method that rotates the rotating platform relative to the carrier coordinate system has limitations. In order to ensure the rotation modulation, it is necessary to design a corresponding solution to isolate the angular motion of the carrier.

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