Strapdown inertial navigation system coarse alignment method based on recursive quaternion

A strapdown inertial navigation and quaternion technology, which is applied in the direction of navigation, measuring devices, instruments, etc. through speed/acceleration measurement, can solve the problems of slow convergence speed and low accuracy of dual vector orientation determination

Inactive Publication Date: 2017-04-26
SOUTHEAST UNIV
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Problems solved by technology

[0005] The technical solution of the present invention is to provide a strapdown inertial navigation system based on recursive quaternions for the problems of low accuracy and slow convergence speed of the two-vector attitude determination in the rough alignment of the solidification method of the strapdown iner...

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  • Strapdown inertial navigation system coarse alignment method based on recursive quaternion
  • Strapdown inertial navigation system coarse alignment method based on recursive quaternion
  • Strapdown inertial navigation system coarse alignment method based on recursive quaternion

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Embodiment Construction

[0066] Such as figure 1 , the specific implementation steps of the present invention are as follows:

[0067] 1) First use the solidification method for rough alignment, and the initial attitude matrix Decompose into four matrices, and use the local latitude information to determine the coordinate transformation matrix Determining the Coordinate Transformation Matrix Using the Earth's Rotation Angular Velocity Using Gyroscope Output Data to Determine Coordinate Transformation Matrix

[0068] 2) Utilize the accelerometer output data and the gravitational acceleration information to determine the observation vector and the reference vector, unitize the observation vector and the reference vector, and determine the corresponding weight;

[0069] 3) Utilize the observation vector and reference vector obtained in step 2) to calculate the K at the current moment k matrix and innovation matrix δK k+1 ;

[0070] 4) Utilize the current moment K calculated in step 3) k matri...

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Abstract

The invention discloses a strapdown inertial navigation system coarse alignment method based on a recursive quaternion. According to the method, a constant value attitude matrix in solidification method coarse alignment is calculated by adopting a recursive quaternion algorithm, and then the strapdown inertial navigation coarse alignment process is completed on the basis of solidification method coarse alignment. Solving of an initial attitude matrix is converted into calculation of the constant value attitude matrix in solidification method coarse alignment, an optimal quaternion solution of the constant value attitude matrix in a solidification method can be solved by constructing observation vectors and a reference vector and adopting a recursive quaternion algorithm, and then the strapdown inertial navigation coarse alignment process is completed. By constructing different observation vectors, the method can be applied in initial alignment under a static base and a swinging base and also applied in initial alignment under a movable base. The recursive quaternion algorithm is applied in the solidification method coarse alignment process, the alignment precision and the convergence speed can be improved. Therefore, the method has a very good engineering reference and application value by serving as a coarse alignment method for the swinging base or the movable base.

Description

technical field [0001] The invention belongs to the technical field of strapdown inertial navigation, relates to initial alignment, and is a rough alignment method for strapdown inertial navigation systems based on recursive quaternions. Background technique [0002] Inertial Navigation System (INS) is widely used in unmanned equipment and autonomous robots because of its good autonomy, strong concealment and excellent short-term accuracy. A key technology of the strapdown inertial navigation system is the initial alignment technology. The initial alignment of strapdown inertial navigation is to determine the attitude matrix at the initial moment. The essence of the initial alignment of the strapdown inertial navigation system is to determine the attitude through vector observation, so the attitude determination algorithm based on vector observation can be used to complete the initial alignment. How to achieve the highest alignment accuracy in the shortest time is the key ...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/16
CPCG01C25/005G01C21/16
Inventor 张涛朱永云王自强
Owner SOUTHEAST UNIV
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