Initial self-aligning method for inertial platform under static base

An inertial platform and self-alignment technology, which is applied in the field of inertial navigation and can solve problems such as long alignment time, deviation of alignment results, and impact of missile response speed.

Inactive Publication Date: 2017-11-24
INHALE HYPERSONIC TECH RES CENT UNIT 63820 OF PLA
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Problems solved by technology

The error characteristics and control loop performance of the inertial platform are different due to different working conditions, resulting in certain deviations in the alignment results of the scheme;
[0005] 2) Long align...

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  • Initial self-aligning method for inertial platform under static base
  • Initial self-aligning method for inertial platform under static base
  • Initial self-aligning method for inertial platform under static base

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Embodiment Construction

[0096] Below in conjunction with accompanying drawing and embodiment, describe technical solution of the present invention in detail:

[0097] It is assumed that the inertial platform has been calibrated and compensated before leaving the factory and the residual error is small. Set the initial attitude angle of the platform and the platform system parameters as random quantities, where the horizontal attitude angle is within ±5 ° Internal random distribution, azimuth within ±180 ° randomly distributed inside. The gyroscope zero bias variance is 0.01° / h, and the accelerometer zero bias variance is 100ppm.

[0098] In the simulation, the sampling period is 0.1s, the moment instruction generation period is 0.1s, the filtering period is 1s, the accelerometer measurement noise is 0.1μg, the equivalent error is 0.1μg, and the gyroscope measurement noise is 0.001° / h. The initial value of the attitude angle of the filter is the rough alignment result, the other initial values ​​ar...

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Abstract

The invention belongs to the technical field of inertial navigation and particularly relates to an initial self-aligning method for an inertial platform under a static base. The method disclosed by the invention adopts a 'rough aligning' + 'fine aligning' thought and utilizes the characteristics of self-stable loop of the inertial platform to realize the quick initial self aligning under the static base. The method comprises the following steps: firstly, on the basis of the natural characteristics of gravity vector following the earth rotation, by utilizing the output information of the system under the navigation working mode of the inertial platform, the rotational angular velocity of the earth, and the like, quickly acquiring the rough information of the initial gesture of the inertial platform, thereby completing the rough aligning for the system. On the basis, a torque increasing scheme is designed and a Kalman filter technique is utilized to realize the fine alignment of the inertial platform. The method provided by the invention is capable of effectively increasing the speed and precision of the initial alignment of the inertial platform, supplies a basis and a method support for improving the performances of the navigation system of the inertial platform and has relatively high economic benefit and engineering application value.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, in particular to an initial self-alignment method of an inertial platform. Background technique [0002] Inertial platform navigation system (also known as platform inertial navigation system or inertial platform) has been used as the core equipment of the navigation guidance and control system of strategic missiles and other weapon systems by virtue of its high precision. Like the strapdown inertial navigation system, the recursive navigation algorithm requires the initial alignment of the inertial platform navigation system before use. The result will directly affect the performance of the inertial platform, and then affect the response speed and strike accuracy of the weapon system. Therefore, a fast and accurate inertial platform initial alignment technology has always been a research hotspot at home and abroad. [0003] The method based on "leveling" + "aiming" (compass method) ...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/18
CPCG01C21/18G01C25/005
Inventor 丁智坚周欢吴颖川贺元元吴东升王锋刘建霞陈圣兵武龙
Owner INHALE HYPERSONIC TECH RES CENT UNIT 63820 OF PLA
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