A method for on-line calibration of marine star sensor assisted gyroscope
A star sensor and gyroscope technology is applied in the directions of instruments, navigation, surveying and mapping, and navigation. Improve the accuracy of attitude determination and reduce the effect of insufficient error estimation
Active Publication Date: 2021-07-23
HARBIN ENG UNIV
View PDF3 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0005] The purpose of the present invention is to solve the problem that the gyroscope cannot be calibrated online due to the divergence of the standard Kalman filter due to the unknown statistical characteristics of the star sensor measurement noise caused by changes in the external environment during the ship's long voyage and autonomous navigation. An online calibration method for marine star sensor-assisted gyroscope based on genetic factor adaptive selection of Sage-Husa filter
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0106] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.
[0107] The present invention is an on-line calibration method for marine star sensor assisted gyroscope based on adaptive selection of Sage-Husa filter based on forgetting factor, and the process of the method is as follows: figure 1 shown, including the following steps:
[0108] Step 1: Turn on the power and initialize the star sensor / inertial integrated navigation system. At the initial moment of navigation, the system needs to be initialized:
[0109] (1) Initialization of navigation information: ship position information lambda s0 , the unit is radian, expressed in rad, the velocity information v x0 , v y0 , the unit is m / s, expressed in m / s, and the attitude angle information φ x0 , φ y0 , φ z0 , the unit is radian, expressed in rad, the initial transformation matrix initial quaternion q 0 ;
[0110] (2) Initialize constant value par...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses an online calibration method for a marine star sensor-assisted gyroscope, and relates to the technical field of inertial sensor error calibration in inertial navigation. The invention comprises the following steps: (1) initializing the star sensor / inertial integrated navigation system; (2) collecting the output data of the inertial device and the star sensor; (3) solving the inertial device to obtain the attitude quaternion and navigation information (4) obtain the true value of the carrier attitude quaternion; (5) utilize the fuzzy logic control method to determine the forgetting factor in the simplified Sage-Husa adaptive filtering method, and then filter and calculate the carrier attitude quaternion information; (6) Compensating the gyro output error to the gyro output angular velocity information, and performing navigation calculation; (7) storing and outputting the navigation information. The invention enhances the applicability of the on-line calibration of the marine star sensor-assisted gyroscope in complex environments, reduces the problem of insufficient estimation of measurement noise errors, and effectively improves the attitude determination accuracy of the star sensor.
Description
technical field [0001] The invention relates to the technical field of inertial sensor error calibration in inertial navigation, in particular to an online calibration method for gyroscopes assisted by marine star sensors based on adaptive selection of Sage-Husa filters for forgetting factors. Background technique [0002] The gyroscope is the core sensor of attitude measurement in the inertial navigation system, which can directly sense the angular velocity of the carrier system relative to the inertial system, but its output error is one of the main reasons for the navigation error of the inertial navigation system. After estimating the output error of the gyroscope, this part of the navigation error can be better suppressed, so it is important to calibrate the gyroscope online. The traditional online calibration of gyroscopes uses GPS signals as an external information source to estimate gyroscope errors, but GPS signals are susceptible to environmental interference and d...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C21/18G01C21/02
CPCG01C21/02G01C21/18G01C21/203
Inventor 王秋滢张明惠刘凯悦崔旭飞郭铮匡春旭钟万青尹娟程铭
Owner HARBIN ENG UNIV