A Fast Initial Alignment Method for Vehicular Inertial Navigation Based on Active Disturbance Rejection Control

Abstract

The invention discloses a method for conducting rapid initial alignment on vehicle load inertial navigation motion based on auto-disturbance-rejection control.The method is characterized by comprising the following steps that 1, before a vehicle is started, inertial navigation is initialized, and coarse alignment under the condition of an inertial navigation static base is completed; 2, after the vehicle is started, the observation quantity is constructed through inertial navigation and velocity information output by a mileometer; 3, a motion fine alignment loop is designed through the observation quantity, an inertial navigation error equation and an auto-disturbance-rejection control method; 4, parameters of an auto-disturbance-rejection controller are adjusted and finalized; 5, a feedback matrix is constructed through the misalignment angle output by an observer, so that initial alignment of vehicle load inertial navigation motion is achieved.By means of the steps, the coarse alignment method, observation quantity construction, the design method of the auto-disturbance-rejection control loop and the like adopted before the loaded vehicle is started are described in details; by means of the method, statistics characteristics of noise do not need to be known in advance, a quite precise model is not needed either, and the rapid inertial navigation alignment problem under the vehicle load environment and the problem of compensation under the external disturbance in the vehicle load process of inertial navigation can be solved.

Description

1. Technical field [0001] The invention relates to a vehicle-mounted inertial navigation rapid initial alignment method based on active disturbance rejection control, and belongs to the technical field of vehicle-mounted inertial navigation initial alignment. 2. Background technology [0002] At present, the inertial navigation system has a very wide range of applications in the fields of aviation, spaceflight, navigation and land navigation. Especially in the military field, the inertial navigation system plays a huge role. Vehicle-mounted weapons are an important part of land weapon systems. Modern vehicle-mounted weapons are generally equipped with high-precision inertial navigation equipment, which is used to guide the weapon system and provide navigation information. The inertial navigation system must complete the initial alignment before entering the navigation. The initial alignment provides the basis for the subsequent inertial measurement. The accuracy of the ini...

AI Technical Summary

Problems solved by technology

Due to the lack of application of the characteristics of the system model in classical control theory, problems such as low control accuracy, slow convergence speed, and weak system robustness, etc.

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