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A Calculation Method for Coarse Alignment of Inertial System Based on Opreq Method

A calculation method and rough alignment technology, applied in the field of initial alignment of strapdown inertial navigation systems, can solve the problems affecting the convergence speed and accuracy of rough alignment, etc.

Active Publication Date: 2020-06-02
SOUTHEAST UNIV
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Problems solved by technology

[0005] Purpose of the invention: the purpose of the present invention is to solve the existing in the prior art because the observation vector that the inertial sensor obtains usually contains various noises, has influenced the deficiency of the convergence speed and precision of rough alignment, provides a kind of inertial system based on OPREQ method Coarse Alignment Calculation Method

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  • A Calculation Method for Coarse Alignment of Inertial System Based on Opreq Method
  • A Calculation Method for Coarse Alignment of Inertial System Based on Opreq Method
  • A Calculation Method for Coarse Alignment of Inertial System Based on Opreq Method

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Embodiment Construction

[0096] The present invention provides a kind of coarse alignment calculation method of inertial system based on OPREQ method, which comprises the following steps:

[0097] (1) Obtain real-time data from sensors;

[0098] (2) Calculate the coordinate transformation matrix according to the earth's rotation angular velocity and carrier latitude data and

[0099] (3) Update and calculate the coordinate transformation matrix according to the gyroscope output data obtained in step (1)

[0100] (4) according to the coordinate transformation matrix that step (2), (3) obtain, the accelerometer output data that step (1) obtains, and the earth's gravity vector, calculate reference vector and observation vector;

[0101] (5) According to the reference vector and observation vector obtained in step (4), use the OPREQ method to solve the measurement update matrix K k+1 / k+1 ;

[0102] (6) According to the measurement update matrix obtained in step (5), solve the constant attitude ma...

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Abstract

The invention discloses an inertial system coarse alignment calculating method based on an OPREQ method. The calculation of an initial attitude matrix is transmitted to determination of a constant attitude matrix, and the OPREQ method is employed for solving an optimal quaternion corresponding to the attitude matrix. The gain size is subjected to adaptive adjusting, noise in an observation vectoris effectively subjected to filtering processing, so that the effect of coarse alignment convergence performance can be achieved, and the coarse alignment method of a static pedestal and a swing pedestal has good engineering reference and application value.

Description

technical field [0001] The invention belongs to the initial alignment technology of a strapdown inertial navigation system, and in particular relates to an inertial system rough alignment calculation method based on an OPREQ method. Background technique [0002] A strapdown inertial navigation system (SINS) is an autonomous system that utilizes measurements from inertial sensors to calculate the position and orientation of a vehicle relative to an initial point. Therefore, the development of initial alignment techniques for solving the initial attitude is of great significance to achieve high-precision navigation. There are two important performance indicators for the initial alignment, one is the alignment accuracy, and the other is the convergence speed. How to obtain a high-precision initial attitude in a short period of time is an important research hotspot in the field of inertial navigation. [0003] According to the positioning process, the initial alignment is gene...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 张涛朱永云王健陈浩颜亚雄
Owner SOUTHEAST UNIV
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