A dynamic, fast and precise alignment method for static bases based on autonomous measurement information
A precise alignment, static base technology, used in measuring devices, navigation through velocity/acceleration measurements, instruments, etc., to solve problems such as inability to accurately align
Active Publication Date: 2018-05-08
BEIHANG UNIV
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Problems solved by technology
[0003] The purpose of the present invention is to provide a dynamic fast and accurate alignment method for static bases based on autonomous measurement information, which overcomes the problem in the prior art that the main / sub-inertial navigation system connected to the multi-stage dynamic lever arm is under maneuvering conditions. , the inability to carry out precise alignment improves the speed and accuracy of inertial alignment and makes up for the inadequacy of the initial alignment method;
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[0046] Preferred embodiments of the present invention are described in detail below in conjunction with accompanying drawings;
[0047] refer to Figure 1 to Figure 3 As shown, a dynamic fast and accurate alignment method for static bases based on autonomous measurement information performs initial alignment during the maneuvering process of the sub-inertial navigation system, which improves the speed and accuracy of sub-inertial navigation alignment. The navigation information of the inertial navigation system initializes the sub-inertial navigation; makes the sub-inertial navigation roll and axial maneuver erection. , using the dynamic lever arm compensation method in the static base erection environment to independently obtain position and velocity measurement information; carry out strapdown calculation through sub-inertial navigation; use Kalman filter to combine the position and velocity measurement information obtained independently with the strapdown Combining the cal...
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The invention discloses an autonomous measurement information-based dynamic rapid accurate stationary base alignment method. The autonomous measurement information-based dynamic rapid accurate stationary base alignment method comprises the following technical steps: initializing a slave inertial navigation system; dynamically erecting the slave inertial navigation system; autonomously acquiring position measurement information and speed measurement information; accurately aligning the autonomously; estimating random errors of the autonomously by utilizing a Kalman filtering method on the basis of a slave inertial navigation system strapdown algorithm result, the acquired position measurement information and the acquired speed measurement information, and decreasing the heading and horizontal attitude errors through feedback compensation so as to obtain a high-accuracy slave inertial navigation system aligning result. According to the autonomous measurement information-based dynamic rapid accurate stationary base alignment method, the position measurement information and the speed measurement information are autonomously acquired through a dynamic lever arm compensation method in a static base erection environment for master / slave inertial navigation systems which are connected by a multistage dynamic rod lever, so as to obtain the high-accuracy dynamic inertial navigation system aligning result, so that the rapidness and correctness of the slave inertial navigation system aligning are improved.
Description
technical field [0001] The patent of the present invention relates to the technical field of a measurement calibration method, especially a dynamic fast and accurate alignment method of a static base based on autonomous measurement information, which can be applied to the alignment of a static base dynamic inertial navigation system, design optimization, Safe and reliable, the invention can be applied to data processing and navigation calculation of integrated navigation systems such as INS (Inertial Navigation System) / GPS (Global Position System, Global Positioning System), greatly improving the accuracy of navigation calculation. Background technique [0002] The inertial navigation system is a navigation system that obtains the position, velocity and attitude information of the carrier in real time through strapdown calculations based on the real-time measurement data of the inertial measurement unit. Before entering the normal working state, the inertial navigation system...
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IPC IPC(8): G01C25/00G01C21/18
CPCG01C21/18G01C25/005
Inventor 李建利白立建房建成刘刚李奕其卢兆兴党鹏飞
Owner BEIHANG UNIV