Dynamic compensation double-axis IMU rotation and rotating shaft control strategy

A technology of dynamic compensation and control strategy, applied in the field of inertial navigation, can solve the problems of neglecting the influence of modulation symmetry and the effect of modulation compensation is not fully exerted, and achieve the effect of good modulation effect

Inactive Publication Date: 2017-09-26
TIANJIN NAVIGATION INSTR RES INST
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Problems solved by technology

At present, according to the actual use situation, there are roughly two types of rotation schemes, one is the background of internal orientation rotation, and the other is the background of external orientation rotation, but both schemes ignore the influence of the movement of the carrier on the modulation symmetry during the rotation of the shaft. , so that the effect of modulation compensation has not been fully exerted

Method used

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  • Dynamic compensation double-axis IMU rotation and rotating shaft control strategy
  • Dynamic compensation double-axis IMU rotation and rotating shaft control strategy
  • Dynamic compensation double-axis IMU rotation and rotating shaft control strategy

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Embodiment Construction

[0022] Embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings:

[0023] A dynamic compensation dual-axis IMU rotation and shaft control strategy, such as figure 1 shown, including the following steps:

[0024] Step 1. The inertial navigation device is powered on and initialized.

[0025] (1) The inertial navigation equipment is powered on, and the two rotating axes (azimuth axis and horizontal axis) rotate to their respective zero positions according to the preset control command;

[0026] (2) Staple the initial position, complete the rough alignment process according to the preset rough alignment scheme, and obtain the rough alignment result.

[0027] Step 2. Two-axis symmetrical rotation modulation fine alignment and control the rotation of the shaft.

[0028] (1) The inertial navigation enters the stage of fine alignment, and begins to rotate periodically with eight or sixteen sequences;

[0029] (2) Is a...

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Abstract

The invention relates to a dynamic compensation double-axis IMU rotation and rotating shaft control strategy which is technically characterized by comprising the following steps: 1, performing power-up initialization and rough alignment on inertial navigation; 2, performing double-axis symmetric rotation tuning fine alignment, and controlling a rotating shaft to rotate; 3, outputting a fine alignment result. The strategy is reasonable in design, dynamic compensation double-axis IMU rotation and rotating shaft control strategy functions are achieved, purposes of completely symmetric rotation modulation and relatively good modulation effect taking are achieved, a function of double-axis strap down inertial error diffusion is further inhibited while the double-axis strap down inertial dynamic modulation stability is improved, and the navigation precision, overall mechanical equipment structures and cost of an inertial system can be directly affected.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, in particular to a dual-axis IMU rotation and rotation axis control strategy for dynamic compensation. Background technique [0002] In the inertial navigation equipment, the navigation accuracy of the pure strapdown inertial navigation equipment diverges with time, while the single-axis rotation strapdown inertial navigation equipment can only modulate a small part of the influence of the error because only one axis rotates, and the divergence of the inertial navigation error The inhibitory effect of the dual-axis strapdown inertial navigation equipment is relatively limited, and the dual-axis strapdown inertial navigation equipment has two axes that can rotate at the same time, and with a certain rotation sequence, it can modulate the influence of most inertial component errors. A reasonable dual-axis IMU rotation sequence can not only offset part of the inertial element constant dr...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 赵云旭李琳王东升王兴全
Owner TIANJIN NAVIGATION INSTR RES INST
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