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Inertial navigation system transfer alignment modeling method based on dual quaternion

A dual quaternion, inertial navigation system technology, applied in the field of aerospace system information processing, can solve problems such as lack of relevant literature

Active Publication Date: 2017-03-22
ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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Problems solved by technology

By reviewing the published literature, it can be seen that the method of using dual quaternions to establish the navigation method of the inertial navigation system and the initial alignment model method of the strapdown inertial navigation system have already appeared, but for the transfer alignment process of the modern navigation system in the case of carrier movement There is no relevant literature on the modeling research, and more is the use of quaternions, modified Rodrigues parameters or Euler angle method to realize the research and analysis of transfer alignment system modeling

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  • Inertial navigation system transfer alignment modeling method based on dual quaternion
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  • Inertial navigation system transfer alignment modeling method based on dual quaternion

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Embodiment Construction

[0077] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0078] The present invention firstly discusses the basic concept of the dual quaternion and its operation rules, and then utilizes the dual quaternion to establish the thrust velocity differential equation under the thrust coordinate system, the gravity velocity differential equation under the gravity coordinate system and the position Position coordinate differential equations in the coordinate system; then calculate and solve these three sets of differential ...

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Abstract

The invention provides an inertial navigation system transfer alignment modeling method based on dual quaternion. A nominal dual quaternion between a main inertial navigation system and an auxiliary inertial navigation system is constructed, the dual quaternion is calculated to describe an auxiliary inertial navigation system carrier system relative to a main inertial navigation system carrier system, rotation and translation motion of the carrier systems are calculated, and a normal dual quaternion differential equation of transfer alignment is constructed by reasoning spinor expressions of relative rotation and translation motion of the main inertial navigation system and the auxiliary inertial navigation system and calculated; a dual quaternion error equation is obtained in combination with an accelerometer parameter error equation and a gyroscope error differential equation; a systematic observation equation is constructed by using the linear velocity of an accelerometer and the angular velocity of rotation of a gyroscope, an initial calibration parameter of the auxiliary inertial navigation system is calculated through kalman filter iteration, the effects of rotation and translation separation calculation on coning errors and sculling errors are eliminated, and the calculation accuracy and the calculation efficiency are effectively improved.

Description

technical field [0001] The invention relates to the technical field of aerospace system information processing, in particular to a dual quaternion-based inertial navigation system transfer alignment modeling method. Background technique [0002] The inertial navigation system is a complex high-precision electromechanical integrated system. It has gone through platform inertial navigation system and strapdown inertial navigation system. The attitude information of the early platform inertial navigation system is the gimbal based on the gyro torque. The built stable platform is directly provided, while the strapdown inertial navigation system (strapdown inertial navigation system) directly fixes the inertial measurement unit (IMU) on the carrier, and uses the computer platform to replace the physical platform, which has the advantages of small size, Low cost and high reliability. However, the strapdown inertial navigation system puts forward higher requirements on the perform...

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/20
Inventor 丁国强徐洁付金华张铎娄泰山郭凌云
Owner ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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