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Method and system for calibrating height difference of inertial navigation prism

An inertial navigation system and altitude difference technology, applied in the direction of measuring devices, instruments, etc., can solve the problems of affecting the flight effect of rockets, inconvenient use, poor versatility, etc., to achieve good expansion of application value, improve flight accuracy, and reduce alignment The effect of deviation

Active Publication Date: 2020-11-06
THE GENERAL DESIGNING INST OF HUBEI SPACE TECH ACAD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, no matter whether the rockets in active service are launched vertically or horizontally, they all use the inertial navigation prism azimuth transfer alignment method to compensate, and the inertial navigation prism calibration methods are different, and some need the north reference as a reference, which is very poor in versatility. Extremely inconvenient, bringing great difficulties to the use and operation of equipment users
In order to avoid these factors, the calibration of the inertial navigation prism is sometimes canceled, which brings great risks to the success of the rocket flight and seriously affects the flight effect of the rocket.

Method used

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  • Method and system for calibrating height difference of inertial navigation prism
  • Method and system for calibrating height difference of inertial navigation prism
  • Method and system for calibrating height difference of inertial navigation prism

Examples

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Embodiment 1

[0073] see figure 1 As shown, the embodiment of the present invention provides a method for calibrating the height difference of the inertial navigation prism, including the following steps:

[0074] Fasten the inertial group navigation system (referred to as the inertial navigation system) equipped with the inertial navigation prism on the turntable, and observe the inertial navigation prism through the autocollimation theodolite (referred to as theodolite for short);

[0075] By controlling the computer to automatically control the rotation of the turntable, the inertial navigation prism can be rotated to different positions, and the theodolite and the inertial navigation prism can be aligned;

[0076] The collimation line between the theodolite and the inertial navigation prism is extended to infinity, and it is regarded as an observation celestial body σ in astronomical navigation and positioning 0 , the observation point of the theodolite is regarded as a circle point of...

Embodiment 2

[0097] 1. Inertial navigation prism installation deviation

[0098] Inertial navigation system and rocket launch coordinate system XYZ such as figure 1 As shown, the Z axis is vertical to the sky, the X axis is the shooting direction, and the Y axis is the yaw. Plane projection, Lxz means the projection of the inertial prism ridgeline on the XZ plane, considering that the projection of the INS prism ridgeline on the XZ plane has no effect on the azimuth alignment, it is ignored. The installation deviation of the inertial navigation prism ridgeline in the inertial navigation coordinate system is determined by two parameters (X 0 ,Z 0 )To represent. x 0 It is called the installation deviation of the inertial navigation prism ridgeline rotating around the Z axis, which represents the non-perpendicularity between the inertial navigation prism ridgeline and the X-axis of the inertial navigation coordinate system, and the right-hand rule is positive for counterclockwise rotation...

Embodiment 3

[0125] The inertial navigation prism height difference calibration system consists of a position rate turntable (hereinafter referred to as turntable), a theodolite and a control computer. Such as Figure 4 The control computer shown in the figure controls the rotation of the turntable, the theodolite observes the inertial navigation prism, and the inertial navigation system equipped with the inertial navigation prism is placed on the turntable table, and the Y-axis of the inertial navigation system is vertically toward the ridge line of the angel inertial navigation prism, and the X , Z-axis is in a horizontal state, control the computer to control the turntable to make the inertial navigation prism vertically aligned with the theodolite, read the angle value of the turntable, the pitch angle value of the theodolite and the horizontal azimuth value; secondly control the computer to control the turntable and make the inertial navigation prism align with the left side of the the...

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Abstract

The invention discloses an altitude difference calibration method and a system of an inertial navigation prism and relates to the technical field of precise guidance and alignment of rocket vehicles.The method comprises the steps of fastening an inertia unit navigation system equipped with the prism, as a core rocket component, on a rotary table, collimating and observing horizontal azimuth angles and pitching angles of the inertial navigation prism in various positions through a theodolite by controlling different positions of the rotary table to rotate, calculating a horizontal azimuth angle and an altitude difference of a similar observation celestial body according to rotary table angles, the horizontal azimuth angles and the pitching angles of the corresponding positions, and calculating a mounting deviation of the inertial navigation prism. The method and the system are based on a celestial navigation altitude difference positioning principle, achieve precision calibration of the mounting deviation of the inertial navigation prism through multiposition observation of the inertial navigation prism, are high in precision and simple and convenient to use and have better socialextended application value and economic value.

Description

technical field [0001] The invention relates to the technical field of precise guidance and alignment of rocket vehicles, and in particular relates to a method and system for calibrating the altitude difference of an inertial navigation prism. Background technique [0002] The inertial navigation system is one of the core components of the rocket vehicle control system, which consists of two parts: the inertial component and the inertial navigation prism. The inertial component realizes the linear motion and rotational motion measurement of the rocket vehicle relative to the inertial space, and controls the rocket to fly to the designated target according to the predetermined trajectory. The inertial navigation prism is the basis for the initial alignment of the rocket launch coordinate system and the inertial navigation coordinate system. The rocket launch coordinate system is completely coincident to ensure that the rocket flies to the target accurately. [0003] When th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 李春权陈林华王勇
Owner THE GENERAL DESIGNING INST OF HUBEI SPACE TECH ACAD
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