Strapdown Inertial Navigation Solution Method Based on Lie Group Description
A strapdown inertial navigation and calculation technology, which is applied in the direction of navigation and complex mathematical operations through speed/acceleration measurement, can solve problems such as quaternion non-uniqueness, attitude calculation deviation, calculation error, etc., to ensure accuracy , reduce the amount of calculations, and avoid the effects of complex calculations
Active Publication Date: 2020-08-07
BEIJING UNIV OF TECH
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Problems solved by technology
The traditional strapdown solution method uses quaternions to calculate the attitude information of the carrier. The quaternion representation method makes up for the lack of Euler angles. There is no problem of singularity in the calculation process, but the quaternion has non-uniqueness. Each group of attitude angles corresponds to more than one quaternion, and the quaternion description method needs to be continuously converted and normalized to the attitude array in the calculation, which inevitably has calculation errors, resulting in deviations in attitude calculations
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[0051] The present invention is based on the design of the strapdown inertial navigation system described by Li Qun. Below in conjunction with the system flow chart of the present invention, the specific implementation steps of the present invention are described in detail:
[0052] Step 1: In the system preparation stage, the navigation system performs the initial alignment process to obtain the initial position of the carrier, longitude λ, latitude L, attitude heading angle attitude heading angle H, pitch angle P, roll angle R, attitude matrix and the eastward velocity of the carrier v e , the northward velocity v n , skyward velocity v u Basic Information;
[0053] Step 2: Construct the SE(3) matrix at k=0:
[0054]
[0055] in Collect the output angular velocity information of the gyroscope in the inertial measurement unit IMU and accelerometer output information f b ;
[0056] Step 3: Using the navigation information at the initial moment, calculate the proje...
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The invention discloses a strapdown inertial navigation solution method based on the Lie group description. The Lie group description is employed to replace quaternion description in traditional quaternion algorithms for strapdown solution; a SE (3) population is constructed from an attitude matrix and carrier speeds; and the SE (3) population is iteratively updated by integrating data collected by inertial sensitive devices. According to the invention, the attitude matrix is directly calculated, so the problem of non-uniqueness and the procedure of normalization calculation in traditional quaternion strapdown solving process due to usage of the quaternion description can be effectively avoided; conversion between quaternion and the attitude matrix in the traditional quaternion strapdown solving process is omitted; unavoidable errors caused by the conversion calculation are prevented; and calculation amount is reduced while solution accuracy is ensured. Thus, the method provided by theinvention has good application prospects in practical engineering.
Description
technical field [0001] The invention proposes a strapdown inertial navigation solution method based on Lie group description, 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 the mat...
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IPC IPC(8): G01C21/18G06F17/16
Inventor 裴福俊蒋宁徐浩朱德森
Owner BEIJING UNIV OF TECH