Marine strapdown inertial navigation system horizontal-damping method based on LMS (Least mean square) algorithm

A LMS algorithm and strapdown inertial navigation technology, applied in the field of navigation, can solve the problems of sensitive parameter selection, unusable, easy to interfere with GPS, etc., and achieve the effect of improving overall performance, small calculation amount, and good damping effect.

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A LMS algorithm and strapdown inertial navigation technology, applied in the field of navigation, can solve the problems of sensitive parameter selection, unusable, easy to interfere with GPS, etc., and achieve the effect of improving overall performance, small calculation amount, and good damping effect.

CN107679016AActive Publication Date: 2018-02-09HARBIN ENG UNIV

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[0044] The method of the present invention will be further elaborated in conjunction with the accompanying drawings.

[0045] Due to the influence of the marine environment, the ship inevitably performs pitch and roll motions during sea navigation and the period of the pitch and roll motion is within a specific frequency band. The marine strapdown inertial navigation equipment can measure the angle of the ship's three axes. The motion information, that is, the pitch and roll angle information output by the inertial navigation system is also in a specific frequency band. In addition, due to the influence of the Schuler loop in the inertial navigation system, the pitch and roll angle output also contains the Schuler oscillation component.

[0046] Since the characteristics of the pitch and roll information output by the inertial navigation equipment are similar, this manual only processes the roll information, and the method for processing the pitch information is the same. The ...

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Abstract

The invention provides a marine strapdown inertial navigation system horizontal-damping method based on an LMS (Least mean square) algorithm. The method is characterized in comprising the following steps that: S1: a marine strapdown inertial navigation system carries out real-time solving to collected a horizontal attitude angle and a course angle; S2: through a Schuler oscillation estimation algorithm based on the LMS algorithm, the Schuler oscillation component of the horizontal attitude angle is estimated; S3: the estimated Schuler oscillation component of the horizontal attitude angle is subjected to closed loop feedback to the marine strapdown inertial navigation system; and S4: marine strapdown inertial navigation system information is output in real time. By use of the method, the Schuler periodic oscillation component of the horizontal attitude angle is estimated by the LMS algorithm, then, the estimated result is used for carrying out feedback correction on the strapdown inertial navigation system, so that the horizontal damping of the inertial navigation system is realized, external information does not need to be imported, and therefore, the system has the advantages ofbeing small in calculated amount and good in damping effect.

Description

technical field [0001] The invention relates to the field of navigation, in particular to a horizontal damping method for a marine strapdown inertial navigation system based on an LMS algorithm. Background technique [0002] The strapdown inertial navigation system is an autonomous navigation system. Most carriers work in an undamped state that is not disturbed by acceleration. For aircraft, missiles and other systems with high acceleration and speed and short use time, The accumulation of errors is not serious; but for ships that have been used for a long time and whose acceleration is not too large, there will be three kinds of periodic oscillation errors, namely Schuler periodic oscillation, Foucault periodic oscillation and Earth periodic oscillation, and with the The accumulation of time, the error is divergent. [0003] At present, scholars are trying to find an effective algorithm to suppress the Schuler oscillation error. The integrated navigation system of inertia...

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Application Information

Patent Timeline

09 Feb 2018

Publication

CN107679016A

IPC: G06F17/16; G01C25/00

CPC: G01C25/005; G06F17/16

Inventors: 黄卫权; 李智超