A time-series detection method of shipborne inertial navigation attitude angle based on star observation
A detection method, attitude angle technology, applied in directions such as measuring angle, mapping and navigation, navigation through velocity/acceleration measurement, etc.
Inactive Publication Date: 2020-05-22
PLA NO 63686 CORPS
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At present, there is no detection method suitable for the stability of inertial navigation attitude angle timing error
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[0105] During the process of observing the same star, the theodolite continuously adjusts the correction amount of the inertial navigation system. The step range of the correction amount is 1ms. The measured data of the array inertial navigation and theodolite are obtained, and the azimuth angle error of the measured stars corresponding to each set of data is The standard deviation was calculated, and the specific results are shown in Table 1.
[0106] Table 1 The relationship between inertial navigation timing error and theodolite azimuth standard deviation
[0107]
[0108] In Table 1, the greater the timing error of inertial navigation attitude angle, the greater the standard deviation of theodolite azimuth error.
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The invention relates to a ship-borne inertial navigation attitude angle time sequence detection method based on fixed star observation. The method comprises the following steps: 1, using inertial navigation attitude angle data and angle measurement data of a theodolite to calculate the actual measurement orientation of fixed stars under the horizon system; 2, using a least square method to fit and calculate the inertial navigation attitude angle data at any time; 3, calculating the inertial navigation attitude data which exceeds or lags behind different time, respectively combining the data with data observed by using the theodolite, and finding a set of inertial navigation attitude data with the smallest standard deviation of the azimuth and pitch angle error of the fixed stars under theground level, wherein the corresponding time sequence is an inertial navigation attitude angle time sequence error. The ship-borne inertial navigation attitude angle time sequence detection method based on fixed star observation has higher inertial navigation time sequence error detection accuracy and can effectively improve the inertial navigation attitude angle measurement accuracy.
Description
technical field [0001] The invention belongs to the technical field of ship navigation, and relates to a shipborne inertial navigation attitude angle time-series detection method based on star observation, which is used for shipborne inertial navigation attitude data fitting and inertial navigation attitude angle time-series error calculation. Background technique [0002] The ship-borne inertial navigation equipment can continuously output the roll, pitch and heading information of the ship, and is not affected by weather and electromagnetic environment changes, providing a stable coordinate reference for the normal operation of many ship-borne devices. The accuracy of the inertial navigation attitude angle measurement results is not only affected by the performance of its own inertial devices, system layout and navigation algorithms, but also related to the inertial navigation attitude timing error. In the case of a ship shaking period of 10s and a ship shaking amplitude o...
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IPC IPC(8): G01C1/00G01C21/02G01C21/16
CPCG01C1/00G01C21/02G01C21/165
Inventor 王前学刘新明周海渊赵李健徐如祥杨恒黄晓娟桑海峰冯小勇
Owner PLA NO 63686 CORPS