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Inertial device value simulation method

A technology of numerical simulation and inertial devices, applied in the field of inertial navigation, to achieve the effect of realistic numerical characteristics

Active Publication Date: 2018-03-06
NO 54 INST OF CHINA ELECTRONICS SCI & TECH GRP
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Problems solved by technology

[0006] f noise refers to the noise proportional to the frequency f, and the power spectrum of f noise is F(2πf), where F is the noise factor, and the slope of f noise and quantization noise on the log-log graph is -1, and it is difficult to use Allan variance Distinguish between the two

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Embodiment Construction

[0050] The present invention will be described in detail below in conjunction with the accompanying drawings and examples.

[0051] A numerical simulation method for inertial devices, such as figure 1 , including the following steps:

[0052] (1) Set the motion command: set the initial position, speed, motion type, duration, angular velocity change rate, simulation step size, such as static, acceleration, constant speed, turning, climbing, and descending.

[0053] (2) Generate trajectory: According to the motion command, based on Newton's second law, generate the motion trajectory.

[0054](3) Generating true value of angular velocity / acceleration: Generating real acceleration value based on motion trajectory, velocity and simulation step size, and generating real angular velocity based on angular velocity change rate and simulation step size.

[0055] (4) Identify the error parameters of the simulated object to obtain the angular random walk variance, zero bias instability...

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Abstract

The invention discloses an inertial device value simulation method. An Adis16480 inertial device is taken as a simulated object, and results show that a simulation value and a simulated value have high fidelity. The inertial device value simulation method disclosed by the invention is mainly characterized in that 1, simulated random noise sequences are subjected to band-pass filtering according tothe random noise frequency bandwidth characteristics, so that the value simulation is more realistic; 2, random noise power spectrum parameters of the simulated inertial device are identified throughan Allan variogram, and the simulation is more targeted, so that the simulation value and simulated object value characteristics are more realistic. The inertial device value simulation method disclosed by the invention can realistically simulate an inertial device of any model and meets the demands on study on different performance inertial navigation and integrated navigation algorithms.

Description

technical field [0001] The invention relates to an inertial device data simulation method, which belongs to the field of inertial navigation. Background technique [0002] Inertial devices refer to gyroscopes and accelerometers. The simulation data is generally realized by the method of adding errors to the true value. The errors of inertial devices include systematic errors and random errors. In the process of inertial navigation calculations, systematic errors can be calibrated and eliminated, while random errors cannot be eliminated. And it has great influence on the precision of the inertial navigation. The present invention mainly introduces the random error identification and simulation method of the inertial device. [0003] 1. Types of random errors [0004] Random errors are random drifts caused by uncertain factors, mainly including quantization noise, f noise, angular velocity / acceleration random walk, angle / speed random walk, zero bias instability, rate ramp, et...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/10G01C25/00
Inventor 贾瑞才蔚保国王青江贾浩男王博远智奇楠刘鹏飞马国驹李枭楠
Owner NO 54 INST OF CHINA ELECTRONICS SCI & TECH GRP
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