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A method for extracting full-range attitude angle 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 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: 2022-04-12
TIANJIN NAVIGATION INSTR RES INST
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  • Abstract
  • Description
  • Claims
  • Application Information

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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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  • A method for extracting full-range attitude angle of inertial navigation system
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  • A method for extracting full-range attitude angle 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 a full-range attitude angle of an inertial navigation system. By sequentially freezing the roll angle and the heading angle respectively, the extraction of the roll angle and the heading angle with a pitch angle close to ±90° can be realized. The inventive design idea is ingenious and innovative, and it better solves the practical engineering application problem of inertial navigation system full-attitude angle extraction, which ensures the use of inertial navigation system in the full-attitude range and has promotion 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 Patents(China)
IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 孙伟强赵凤昊景森学
Owner TIANJIN NAVIGATION INSTR RES INST