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Schuler periodic oscillation error restraining method of high-precision inertia navigation system

An inertial navigation system and periodic oscillation technology, applied in the field of inertial navigation, can solve problems such as poor autonomy

Active Publication Date: 2018-07-20
NAT UNIV OF DEFENSE TECH
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  • Application Information

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Problems solved by technology

[0004] The present invention provides a Shura periodic oscillation error suppression method and system of an inertial navigation system, which is used to overcome the limitations of the carrier dynamics or poor autonomy in the prior art, and to ensure that the system has a high degree of autonomy. Suppression of Shura periodic oscillation error, improving navigation accuracy of inertial navigation system

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  • Schuler periodic oscillation error restraining method of high-precision inertia navigation system
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  • Schuler periodic oscillation error restraining method of high-precision inertia navigation system

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Embodiment 1

[0035] Please refer to Figure 1 to Figure 3 , the present invention provides a Shura period oscillation error suppression method for an inertial navigation system, comprising the following steps:

[0036] Step 1, according to the Shura periodic oscillation error in the inertial navigation system oscillation error, collect multi-channel time-delay navigation data through the multi-channel time-delay alignment method;

[0037] Wherein the multiple paths of the delayed navigation data include 2N paths of delayed navigation data, wherein N is a natural number; the interval between the initial alignment time of the two adjacent paths of the delayed navigation data is 1 / 2N Shura cycles;

[0038] Analyze the characteristics of the periodic oscillation error of the inertial navigation system:

[0039] The system error of inertial navigation system is X(t), and its differential value is The measurement matrix is ​​A, the device error is W, according to the static error equation of ...

Embodiment 2

[0105] Please refer to Figure 11 , an embodiment of the present invention provides a Shura periodic oscillation error suppression system of an inertial navigation system, including a multi-channel data acquisition module 1 and a data fusion module 2, wherein:

[0106] The multi-channel data acquisition module 1 is used for collecting one-way delay navigation data according to the Shura cycle oscillation error in the inertial navigation system oscillation error, and the data acquisition module of each road is collected;

[0107] Wherein the multi-channel data acquisition module includes a 2N-channel data acquisition module, wherein N is a natural number; the interval of the initial alignment time of the delayed navigation data in adjacent two channels is 1 / 2N Shura cycle; the multi-channel data acquisition Module 1 includes four data acquisition modules. The data acquisition module can adopt a data collector, which is the prior art.

[0108] The data fusion module 2 is used ...

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Abstract

The invention discloses a Schuler periodic oscillation error restraining method and system of a inertia navigation system. The method includes the steps of collecting multiple paths of delay navigation data through a multi-path delay alignment method according to Schuler periodic oscillation errors in oscillation errors of the inertia navigation system, wherein the multiple paths of delay navigation data include 2N paths of delay navigation data, N is a natural number, and the internal between the initial alignment times of two adjacent paths of delay navigation data is 1 / 2N Schuler cycle; conducting data fusing treatment on the multiple paths of delay navigation data to restrain part or all of the Schuler periodic oscillation errors, and outputting the final navigation data. By means of the scheme, the problem of carrier low-dynamic limitation or poor autonomy in the prior art is solved, high autonomy is realized by restraining the Schuler periodic oscillation errors, and the navigation precision of the inertia navigation system is improved.

Description

technical field [0001] The invention relates to the technical field of inertial navigation, in particular to a method for suppressing Shura period oscillation error of a high-precision inertial navigation system. Background technique [0002] Inertial navigation system has three types of periodic oscillation errors, which are Shura period error, Foucault period error and Earth period error. In the high-precision inertial navigation system that is aligned for a long time (the alignment time of the inertial navigation system is more than 10 hours), especially in the system that uses rotation modulation, since the inertial device error and initial alignment error are controlled to a small value, As a result, these three types of oscillation errors exceed the cumulative error value of the system within a certain period of time, accounting for most of the errors of the navigation system. [0003] At present, the main methods of suppressing periodic oscillation errors include dam...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C25/00
CPCG01C21/16G01C25/005
Inventor 龙兴武高春峰魏国
Owner NAT UNIV OF DEFENSE TECH
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