Alignment method with combination of strap-down inertial navigation and tachometer based on reverse navigation algorithm

A strapdown inertial navigation and navigation algorithm technology, applied in the field of inertial navigation alignment, can solve the problems of expensive DVL, inability to guarantee measurement accuracy, exposure, etc.

Active Publication Date: 2017-03-08
西安美泰航海科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, because DVL is expensive and emits sound waves when working, exposing its position, it cannot meet the concealment requirements well.
At the same time, the effective speed measurement range of DVL is ±10m / s. When the aircraft is in a state of relatively high speed, DVL cannot guarantee effective measurement accuracy, which limits the application of this method.

Method used

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  • Alignment method with combination of strap-down inertial navigation and tachometer based on reverse navigation algorithm
  • Alignment method with combination of strap-down inertial navigation and tachometer based on reverse navigation algorithm
  • Alignment method with combination of strap-down inertial navigation and tachometer based on reverse navigation algorithm

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Embodiment Construction

[0102] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0103] Step 1: Build the SINS and tachometer alignment model:

[0104] Transition equation:

[0105] Observation equation: Z ST =H ST x ST +v ST

[0106] In the above formula

[0107]

[0108]

[0109]

[0110]

[0111]

[0112]

[0113] Among them, F ST is the system state matrix, H ST is the system measurement matrix, the system noise w ST and measurement noise μ ST It is white Gaussian noise with zero mean. V N , V U , V E is the speed of the carrier in the north sky direction, λ, L and h represent the longitude, latitude and height of the carrier respectively, and the height information can be directly measured by the depth sensor.

[0114] Establish the differential equation of the forward navigation algorithm and discretize it:

[0115] Attitude equation:

[0116] Velocity equation:

[0117] Position equation:

[...

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Abstract

The invention relates to an alignment method with combination of strap-down inertial navigation and a tachometer based on a reverse navigation algorithm. An alignment technology is an important topic for discussion in a formation voyage task of an autonomous underwater vehicle (AUV), and meanwhile rapidity and precision are also main task requirements for battles of the time. Aiming at the problem, the invention provides a research method for alignment with combination of strap-down inertial navigation and a tachometer based on the reverse navigation algorithm. According to the method, the axial speed of the AUV, measured by the tachometer, and navigation information measured by strap-down inertial navigation are combined together effectively. By resolving speed outputs of the tachometer and a strap-down inertial navigation system, the speed increment difference of the tachometer and the strap-down inertial navigation system is reduced; and meanwhile, sampled data of an alignment stage is subjected to inversion calculation, the utilization of the amount of information is increased, and then a high-precision alignment result can be obtained rapidly.

Description

technical field [0001] The invention belongs to a method of inertial navigation alignment technology, and relates to a research on a combined alignment method of a strapdown inertial navigation and a tachometer based on a reverse navigation algorithm. Background technique [0002] Autonomous underwater vehicle (Autonomous Underwater Vehicle, AUV for short) is an important tool for performing marine military missions and ocean development. When AUV is performing tasks, inertial navigation needs to perform initial alignment of the system, among which speed and accuracy It is an important indicator for the system requirements. Generally speaking, the relationship between the two is contradictory and mutually restrictive. Different from the alignment of the static base, the alignment between the travels requires external auxiliary equipment to provide the movement information of the carrier, which is measured by the auxiliary equipment. Correction and compensation of the inertia...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
Inventor 张福斌张立川高剑刘明雍严卫生
Owner 西安美泰航海科技有限公司
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