Method for extracting full-range attitude angles of inertial navigation system

An extraction method and inertial navigation system technology, applied in the field of inertial navigation system attitude angle extraction and inertial navigation system full-range attitude angle extraction, can solve the problems of inability to extract and extract, and achieve the effect of ingenious design ideas and high extraction accuracy

Active Publication Date: 2019-01-01
TIANJIN NAVIGATION INSTR RES INST
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Problems solved by technology

[0003] Since the pitch angle is close to ±90°, the heading angle and roll angle are coupled together, so it cannot be extracted according to the traditional attitude angle extraction method

Method used

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  • Method for extracting full-range attitude angles of inertial navigation system
  • Method for extracting full-range attitude angles of inertial navigation system
  • Method for extracting full-range attitude angles of inertial navigation system

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Embodiment Construction

[0035] The embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be noted that the embodiments are illustrative, not restrictive, and cannot limit the protection scope of the present invention.

[0036] A method for extracting an inertial navigation system full-range attitude angle, comprising the following steps:

[0037] ⑴. Attitude Angle Calculation Formula:

[0038] Define the carrier attitude angle matrix as

[0039]

[0040] The carrier attitude angle can be calculated by formula 1:

[0041] θ=arctan(-C 31 / C 33 )………………………………(2)

[0042]

[0043]

[0044] In the above formula, the domain of definition of θ is (-0.5π,0.5π), the domain of definition of Φ is (-0.5π,0.5π), and the domain of definition of Ψ is [0,2π).

[0045] ⑵、Symbol definition:

[0046] R p ∈(-π,π]: roll angle calculated in the previous solution cycle

[0047] R c ∈(-π,π]: roll angle calculated in the current soluti...

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Abstract

The invention relates to a method for extracting full-range attitude angles of an inertial navigation system. The method for respectively blocking roll angles and course angles is adopted for realizing the extraction for roll angles and course angles with pitching angles approximate to + / - 90 degrees. The design though of the product of the invention is smart and novel, the practical engineering application problem of extracting full-range attitude angles of the inertial navigation system can be effectively solved, the application of the inertial navigation system in full-attitude scope can beguaranteed and the method has a promotional value.

Description

technical field [0001] The invention relates to the technical field of inertial navigation systems, in particular to a method for extracting the attitude angles of a full range of inertial navigation systems, which can be used to extract the attitude angles of inertial navigation systems installed on carriers such as underwater robots and aircrafts whose pitch angle exceeds 90°. Background technique [0002] The general inertial navigation system defines the range of the pitch angle range as: (-90°, 90°). In some specific application fields, not only the range of the pitch angle range must be between [-180°, 180°), the The range of roll angle range is also between [-180°, 180°), and the range of heading angle range is between [0°, 360°). [0003] When the pitch angle is close to ±90°, the heading angle and roll angle are coupled together, which cannot be extracted according to the traditional attitude angle extraction method. Contents of the invention [0004] The purpose...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 孙伟强赵凤昊景森学
Owner TIANJIN NAVIGATION INSTR RES INST
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