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Strap-down inertial navigation system (SINS) with nonlinear compensation filter

A non-linear compensation, strapdown inertial navigation technology, applied in the direction of navigation calculation tools, etc., can solve the problems of reliability, maintainability and cost restricting the accuracy of inertial components, difficulty in the accuracy of inertial components, and low cost of precision, and achieve low cost. , the effect of improving the accuracy and improving the accuracy

Active Publication Date: 2018-10-23
BEIHANG UNIV
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  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

For inertial components, reliability, maintainability and cost still restrict the improvement of the precision of inertial components. Therefore, the improvement of the precision of inertial components is difficult and limited.
The cost of improving the accuracy of the attitude algorithm is low, but the implementation is difficult, which is mainly determined by the maturity and complexity of the attitude algorithm itself.

Method used

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  • Strap-down inertial navigation system (SINS) with nonlinear compensation filter
  • Strap-down inertial navigation system (SINS) with nonlinear compensation filter
  • Strap-down inertial navigation system (SINS) with nonlinear compensation filter

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Embodiment 1

[0070] In the present invention, it is defined that the navigation coordinate system (n system) coincides with the geographical coordinate system (g system), and its x n Axis points east, y n Axis points north, z n The axis refers to the sky; the x of the body coordinate system (b system) b The axis points to the right side of the body, y b The axis points to the nose along the longitudinal axis of the body, z b The axis points upwards of the body. The output of the MEMS gyroscope in low dynamic conditions is collected, the zero bias of the MEMS accelerometer is 2mg, the zero bias of the gyro is 60° / h, the sampling time is 1200s, and the sampling interval is 0.05s, that is, 200 accelerometer information are collected within 1s and gyroscope information

[0071] use figure 2 As shown in PCF_SINS, add the nonlinear compensation filter respectively (execute image 3 Process) and the navigation attitude calculation without nonlinear compensator, the attitude after the c...

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Abstract

The invention discloses a strap-down inertial navigation system (SINS) with a nonlinear compensation filter. A nonlinear compensation filter is added in a conventional strap-down inertial navigation system. The nonlinear compensation filter receives specific force information outputted by an accelerometer combination and attitude matrix outputted by an attitude matrix calculation module; subjectsthe specific force information and attitude matrix to attitude nonlinear compensation to obtain a compensated attitude matrix; and outputs the compensated attitude matrix to a specific force coordinate conversion module. According to the system, output of accelerometers is taken as the constraint; the attitude matrix, which is obtained through angular rate calculation, is subjected to nonlinear compensation filter, the divergence of attitude is inhibited, and the attitude precision is improved.

Description

technical field [0001] The invention relates to a nonlinear compensation filter, more precisely, a nonlinear passive compensation filter capable of improving the attitude accuracy of a strapdown inertial navigation system based on the output of an accelerometer. Background technique [0002] Strapdown inertial navigation system (SINS, strapdown inertial navigation system) is developed on the basis of platform inertial navigation system. It is a frameless system consisting of three rate gyros, three linear accelerometers and a tiny navigation computer. Schematic diagram of the strapdown inertial navigation system (referred to in this application as figure 1 ) Please refer to the first edition of Science Press in May 2006, author Qin Yongyuan, page 287 of "Inertial Navigation". [0003] There are two main factors that restrict the traditional SINS attitude accuracy: one is the accuracy of the inertial components (including accelerometer and gyroscope) itself; the other is th...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 富立刘永永王玲玲
Owner BEIHANG UNIV
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