A Transfer Alignment Method of Mems Equivalent Single-axis Rotational Inertial Navigation
A transfer alignment and single-axis technology, applied in the field of rotary inertial navigation, can solve the problems of limited energy, small size of tactical weapons, and difficulty in meeting the requirements of tactical guided weapons
Inactive Publication Date: 2019-03-15
HENAN POLYTECHNIC UNIV
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Problems solved by technology
[0004] Due to the small size and limited energy of the tactical weapon itself, its navigation system must require small size, low cost, low power consumption, and strong impact resistance. If a rotating mechanism is introduced to achieve rotary inertial navigation, precision motors are required , drive circuit and power supply, etc., these are difficult to meet the requirements of tactical guided weapons
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[0039] The specific implementation of the present invention will be described below in conjunction with airborne weapons and drawings to perform attitude transfer alignment error estimation.
[0040] The attitude measurement accuracy of the inertial measurement system constructed with MEMS gyroscope is low, and the general error is more than 100 degrees per hour. Although the error is fatal for guided weapons with an effective working time of more than ten seconds to more than one hundred seconds, This requires high precision, which includes two aspects: one is that the MEMS inertial measurement system itself must have high precision, and the other is that the launch must be accurate, that is, the initial value of the inertial measurement system must be accurate, especially the attitude accuracy.
[0041] Such as figure 1 As shown in the figure, the aircraft is flying with bombs, and the bombs are hung under the wings.
[0042] Regardless of whether the future bomb is hung un...
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Maneuvering of a carrier, such as the maneuvering capability of carriers such as an aircraft and a ship is utilized for achieving rotation movement, and equivalent rotation single-shaft rotation modulation is constructed to lower errors. However, actually, bullets will not move along with the carrier all the time and will be projected; when the bullets are projected, errors of a system will not be modulated in the autonomous flight period, and compensation for errors, particularly the attitude errors is needed in the autonomous flight period. Accordingly, the attitude transfer alignment error estimation method is designed. The method comprises the steps that errors are modulated in the course maneuvering process, and the errors are estimated in the linear motion process; due to the fact that a majority of errors are modulated and compensated for in the modulation process, attitude parameters provided by main inertial navigation are utilized in the linear motion process for estimating auxiliary inertial navigation attitude errors, and furthermore, compensation parameters are formed for compensating for auxiliary inertial navigation. If the carrier does not have main inertial navigation or a fault, error estimation can be performed, and meanwhile errors on a rotating shaft can be estimated. Finally, according to the estimation result, an auxiliary inertial navigation system is corrected.
Description
technical field [0001] The invention relates to the field of rotary inertial navigation, in particular to a transfer alignment attitude error estimation method of equivalent rotary inertial navigation. technical background [0002] With the development of MEMS inertial technology, it has become the first choice for various navigation systems due to its advantages of low cost, small size, integration, low power consumption, high impact resistance, and mass production. The low-frequency error of the inertial device is modulated by the regular rotation of the inertial unit (IMU) around the rotation axis. This rotation modulation technology has become one of the key technologies for improving the accuracy of inertial navigation abroad. Under the condition of not using external information, the automatic Compensating the system error caused by gyro drift, accelerometer constant value and slowly changing error can also eliminate the influence of scale coefficient error and install...
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IPC IPC(8): G01C21/18
CPCG01C21/18
Inventor 杨金显张颖李冰锋乔美英陶慧郝海明徐功平杨闯蒋志涛
Owner HENAN POLYTECHNIC UNIV