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Self-adaptive initial alignment method of ship strapdown inertial navigation system

A strapdown inertial navigation and initial alignment technology, applied in the field of navigation, can solve the problems of uncertainty, nonlinear system noise of inertial navigation system, etc., and achieve the effect of improving stability, high precision and fast convergence speed.

Inactive Publication Date: 2018-03-23
HARBIN ENG UNIV
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Problems solved by technology

[0006] The purpose of the present invention is to provide a ship strapdown inertial navigation system adaptive initial alignment method that can simultaneously solve the nonlinearity of the inertial navigation system and the uncertainty of the system noise

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  • Self-adaptive initial alignment method of ship strapdown inertial navigation system
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  • Self-adaptive initial alignment method of ship strapdown inertial navigation system

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Embodiment Construction

[0033] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0034] combine Figure 1~4 , the present invention is a kind of ship SINS self-adaptive initial alignment method based on CKF and VCE method, and specific embodiment is:

[0035] Step 1: The ship SINS starts to work, collecting the measurement information of the fiber optic gyroscope and accelerometer in the SINS;

[0036] Step 2: According to the initial position of the ship provided by the global positioning system carried on the ship, as well as the collected information of the fiber optic gyroscope and accelerometer, the attitude information of the ship is initially determined by using the analytical coarse alignment algorithm, and the ship SINS is completed. coarse alignment of

[0037] Step 3: Establish nonlinear error model of ship SINS in high dynamic environment:

[0038]

[0039] in, is the direction cosine matrix between the carrier system b and th...

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Abstract

The invention relates to a self-adaptive initial alignment method of a ship strapdown inertial navigation system. The self-adaptive initial alignment method comprises the following steps: enabling a ship SINS(Ship Inertial Navigation System) to begin to work, and acquiring measured information of a fiber-optical gyroscope and an accelerometer; providing an initial location of a ship according to aglobal positioning system carried by the ship as well as the acquired fiber-optical gyroscope and accelerometer information, primarily determining attitude information of the ship by utilizing a parsing-type coarse alignment algorithm, and completing the coarse alignment of the ship SINS; establishing a nonlinear error model of the ship SINS in a high-dynamic environment; establishing a nonlinearfilter equation in the high-dynamic environment of the ship; estimating the system noise by utilizing a VCE-based self-adaptive CKF algorithm in real time, and estimating a misalignment angle of thesystem; and correcting an initial strapdown attitude matrix of the system by utilizing the misalignment angle estimated in step 5, obtaining a precise initial strapdown matrix, and completing a precise alignment process under a movable foundation bed. By adopting the method, the nonlinear problem and uncertain noise problem in the initial alignment of the inertial navigation system can be solved,and the alignment comprehensive performance can be effectively improved.

Description

technical field [0001] The invention relates to the field of navigation, in particular to an initial alignment method of a ship's optical fiber strapdown inertial navigation system. Background technique [0002] The Strapdown Inertial Navigation System (SINS) can use the accelerometer and gyroscope to be sensitive to the linear velocity and angular velocity information of the carrier itself, so as to provide navigation information such as velocity, position and attitude. Because SINS has many advantages such as all-weather, autonomy, anti-interference, high concealment, ability to provide a variety of navigation information, small size, and low price, it is widely used in the field of navigation. The initial alignment provides initial information for ship SINS, which is the prerequisite for SINS to carry out normal navigation work. The accuracy of the initial alignment will directly affect the navigation accuracy of the navigation system, so the research on the initial alig...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 孙骞刁鸣李一兵叶方
Owner HARBIN ENG UNIV
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