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Gravity center Lagrange's interpolation method-based serial inertial navigation attitude calculation method

A technology of strapdown inertial navigation and interpolation method, applied in the field of attitude calculation of strapdown inertial navigation system

Inactive Publication Date: 2018-02-27
PEKING UNIV
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Problems solved by technology

Although the strapdown inertial navigation system has many advantages compared to other navigation systems, since the inertial device is directly fixed on the carrier, there are high requirements for the accuracy of the inertial device and the strapdown inertial navigation method

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  • Gravity center Lagrange's interpolation method-based serial inertial navigation attitude calculation method
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  • Gravity center Lagrange's interpolation method-based serial inertial navigation attitude calculation method

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Embodiment Construction

[0083] according to figure 1 As shown in the flow chart, the introduction is based on the attitude calculation method of the center of gravity Lagrangian interpolation method that the number of insertion points is 1, and the specific implementation of the present invention can be divided into the following steps to complete:

[0084] 1. System startup

[0085] This step includes the initial alignment process of the strapdown inertial navigation system, which provides initial values ​​for the update iteration variables of the entire strapdown inertial navigation system (including: attitude, velocity, position, strapdown matrix, and quaternion, etc.).

[0086] 2. Linear interpolation method to insert angular rate information

[0087] In the first few cycles of the strapdown solution, since the available sampling angular rate information is relatively small, it is not enough to support the calculation of the Langrange interpolation method, so a simple linear interpolation metho...

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Abstract

The invention discloses a gravity center Lagrange's interpolation method-based serial inertial navigation attitude calculation method. By the method, the number of sampling points within the cycle canbe increased on the premise of limiting the bandwidth of the device and not reducing the updating frequency, attitude calculation is conducted by a multi-subsample equivalent rotation algorithm, andthe calculation precision is improved. In particular, the method comprises the following steps: calculating the inserting angle in the current updating cycle according to the angular rate informationsampled in the previous cycles, calculating the rotation vector of the cycled by combining the actual sampling point, solving an attitude matrix by using a quaternion updating equation, and solving the attitude information (attitude angle) in the updating cycle. By the method, the calculation quantity in the interpolation process can be effectively reduced and the calculation precision of the algorithm is improved. A simulation experiment indicates that by the method, the calculation precision can be increased by 75 percent under the conditions of the same sensor precision, the same updating frequency and the sampling rate.

Description

technical field [0001] The invention belongs to the field of attitude calculation methods of strapdown inertial navigation systems. The attitude calculation method of strapdown inertial navigation is to use the angular rate or angular increment measured by the gyroscope to calculate the attitude of the carrier, and obtain the attitude angle of the carrier and the direction cosine transformed from the carrier coordinate system to the navigation coordinate system matrix (strapdown matrix). The velocity and position of the carrier can be calculated by using the direction cosine matrix and the acceleration measured by the accelerometer. Therefore, the attitude calculation method of the strapdown inertial navigation system is the core method in the strapdown inertial navigation system, and the design of a high-precision attitude calculation method can improve the calculation accuracy of the strapdown inertial navigation system. Background technique [0002] In the navigation sy...

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/20
Inventor 徐泽林朱柏承牛尊
Owner PEKING UNIV