Uniaxial rotational modulation based inertial and celestial combined navigation system and calculation method

Abstract

The invention discloses a uniaxial rotational modulation based inertial and celestial combined navigation system and a calculation method. The system comprises a uniaxial rotational modulation strap-down inertial navigation system, a celestial navigation system and a horizontal rotating table. A rotational modulation shaft of the uniaxial rotational modulation strap-down inertial navigation systemis coincided with a shaft, perpendicular to the horizontal rotating table, of the celestial navigation system so as to realize rotational modulation along with rotation of the rotational modulation shaft. By selection of a reasonable rotating mode, inertial device biases form periodic signals under a navigation coordinate system, and caused navigation errors are eliminated through the integral action. By combination of the uniaxial rotational modulation based inertial and celestial combined navigation system and the calculation method based on the same, high-precision high-reliability navigation information output is realized, and demands of current navigation users are met.

Description

technical field [0001] The invention belongs to the field of aircraft navigation, guidance and control, and in particular relates to an inertial astronomical integrated navigation system and calculation method based on single-axis rotation modulation. Background technique [0002] Inertial Navigation System (INS) is a purely autonomous navigation system, which does not radiate to the outside world or receive information from the outside world. However, its obvious disadvantage is that there are accumulated errors, which cannot meet the needs of long-term navigation. [0003] To improve the accuracy of the inertial navigation system, we generally start from two aspects. One is to improve the inertial system itself, such as improving the accuracy of the inertial device and adopting error self-compensation technology. Improving the accuracy of the inertial device means an increase in cost. Rotating the inertial device to modulate the error of the inertial device (ie, rotational...

AI Technical Summary

Problems solved by technology

[0009] In the existing technology, the strapdown inertial rotation modulation system (RSINS) and the celestial navigation system (CNS) are only combined in terms of software algorithms, but the installation positions of the two systems are different, which leads to the incomplete coincidence of the navigation solution coordinate system, so the installation Error, at present, the error calibration technology is used to calibrate the installation error of the two systems, and the algorithm is eliminated, but the error calibration cannot completely and accurately calibrate the installation error, and the calculation error will inevitably occur when the software is used to eliminate it.

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