Lie group filtering-based initial alignment method for strapdown inertial navigation

A strapdown inertial navigation and initial alignment technology, applied in the direction of measuring devices, instruments, etc., can solve problems such as deviations in attitude calculation, complex expressions, and calculation errors

Active Publication Date: 2017-06-20
BEIJING UNIV OF TECH
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  • Abstract
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Problems solved by technology

[0006] The quaternion representation method makes up for the lack of Euler angles. There is no singularity problem in the calculation process, but there are constraints in the quaternion. When the quaternion is used to describe the attitu...

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  • Lie group filtering-based initial alignment method for strapdown inertial navigation
  • Lie group filtering-based initial alignment method for strapdown inertial navigation
  • Lie group filtering-based initial alignment method for strapdown inertial navigation

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Embodiment Construction

[0077] The present invention is a preliminary alignment design of a strapdown inertial navigation system based on Lie group filtering. The specific implementation steps of the present invention will be described in detail below in conjunction with the system flow chart of the present invention:

[0078] Step 1: In the system preparation stage, the navigation system is initialized, the basic information of the longitude λ and latitude L of the carrier's location is obtained, and the output angular velocity information of the gyroscope in the inertial measurement unit IMU is collected and accelerometer output information f b Wait;

[0079] Step 2: Pass update calculation

[0080] because Usually changes slowly, the attitude matrix Approximately:

[0081]

[0082] in

[0083] Then get the attitude matrix for:

[0084]

[0085] Step 3: Calculate the angular velocity measured by the gyroscope

[0086] attitude matrix Approximately:

[0087]

[0088] ...

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Abstract

The invention discloses a Lie group filtering-based initial alignment method for strapdown inertial navigation. A strapdown algorithm is described by adopting Lie group and Lie algebra, so that the problem of singular value and a normalized error in a quaternion solving process can be effectively avoided. A new system model is established by integral computation and geographical position information of inertial elements. Recursive estimation is directly performed on an SO(3) group by adopting a Lie group filter, so that the problem of nonlinearity of a quaternion model can be effectively solved, and rapid and accurate initial alignment can be realized. An attitude change of a carrier under swaying interference is reflected in real time, so that the initial alignment can still be rapidly and accurately realized independently of an error model of a system under a swaying condition, and the initial alignment under a swaying pedestal can be finished without fine alignment on the basis of rough alignment. The method is simple in computation and high in adaptability, can be used for a complex random system, and has broad application prospect in practical engineering, the alignment accuracy is ensured, and meanwhile, the alignment speed is increased.

Description

technical field [0001] The invention discloses a strapdown inertial navigation initial alignment method based on Lie group filtering, which belongs to the technical field of navigation methods and applications. Background technique [0002] The so-called navigation is the process of correctly guiding the carrier along the predetermined route with the required accuracy and within the specified time to guide the carrier to the destination. The inertial navigation system calculates various navigation parameters of the carrier based on the output of its own sensors and based on Newton's second law. It is an autonomous navigation system that does not rely on external information and does not radiate any energy to the outside world during work. It has good concealment and strong anti-interference, and can provide complete motion information for the carrier all day and all weather. [0003] The early inertial navigation system was mainly based on platform inertial navigation. With...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 裴福俊梁青琳徐浩
Owner BEIJING UNIV OF TECH
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