Nonlinear initial alignment method for strapdown inertial navigation system on basis of gravimeter platform
A technology of strapdown inertial navigation and initial alignment, applied in the direction of instruments, measuring devices, etc., can solve the problems of poor observability, poor alignment accuracy, regardless of carrier characteristics, etc.
Active Publication Date: 2018-10-19
NAVAL UNIV OF ENG PLA
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The traditional method adopts the filtering method to carry out the initial fine alignment after the rough alignment, that is, after the inertial navigation system is installed on the carrier, it does not consider the characteristics of the carrier, but only considers itself, and performs autonomous alignment, which is limited by the initial misalignment angle. Poor alignment accuracy and poor observability
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[0057] The present invention will be described in further detail below in conjunction with accompanying drawing and specific embodiment, facilitate to understand the present invention clearly, but they are not construed as limiting the present invention.
[0058] The invention aims at the initial alignment problem of the strapdown inertial navigation system on the gravimeter stable platform, and uses a nonlinear filter and a rotating platform to improve the robustness and accuracy of the initial alignment of the inertial navigation system. It is characterized in that the volumetric Kalman filter is used as the filter for initial fine alignment, which improves the robustness of the initial alignment of the inertial navigation system. On the basis of not changing the existing structure of the stable platform of the gravimeter, the attitude controllable characteristics of the stable platform are fully utilized to provide rotation alignment conditions for the inertial navigation sy...
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The invention discloses a nonlinear initial alignment method for a strapdown inertial navigation system on the basis of a gravimeter platform. The nonlinear initial alignment method comprises the following steps: mounting the strapdown inertial navigation system at the center of the bottom of the gravimeter platform, performing coarse alignment according to position information of the gravimeter platform and data outputted by the strapdown inertial navigation system to obtain a rough estimate value of a strapdown inertial navigation system attitude; controlling the gravimeter platform to perform biaxial periodic rotation, acquiring the data outputted by the strapdown inertial navigation system, taking the speed outputted by the strapdown inertial navigation system as speed error observed quantity, obtaining the attitude error of the strapdown inertial navigation system through cubature Kalman filtering and taking a difference value between the estimate value and the attitude error as an initial alignment value of the strapdown inertial navigation system. The nonlinear initial alignment method disclosed by the invention has the benefits that the robustness and the accuracy of initial alignment of the inertial navigation system are improved by utilizing the cubature Kalman filtering and a rotating platform; rotation alignment conditions are provided for the inertial navigation system by fully utilizing the controllable characteristics of the stable platform attitude, so that the initial alignment accuracy is improved.
Description
technical field [0001] The invention relates to a strapdown inertial navigation initial alignment method in the field of inertial navigation, in particular to a non-linear initial alignment method of a strapdown inertial navigation system based on a gravimeter platform. Background technique [0002] The inertial navigation system does not depend on any external information during the navigation process. It is an autonomous navigation system, and its navigation process is to perform integral-based navigation calculations on the output of the inertial measurement unit. Before this, the initial value of the integral must be determined, that is, the initial alignment of the inertial navigation system. The gravimeter-stabilized platform uses the strapdown inertial navigation system as the attitude measurement device, so the attitude of the gravimeter-stabilized platform is equivalent to that of the inertial navigation system. When the inertial navigation system is powered on, th...
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Login to View More IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 何泓洋许江宁郭士荦覃方君安文查峰吴苗
Owner NAVAL UNIV OF ENG PLA