Inertial navigation system random error suppression technology by biaxial rotary modulation

A dual-axis rotation, inertial navigation system technology, applied in the field of inertial navigation, can solve problems such as affecting the accuracy of navigation and positioning, and achieve the effect of improving the accuracy of fixed speed and attitude

Inactive Publication Date: 2019-06-25
HARBIN ENG UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

However, due to the measurement error of the inertial device and other reasons, the error of the navigation system is accum...

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  • Inertial navigation system random error suppression technology by biaxial rotary modulation
  • Inertial navigation system random error suppression technology by biaxial rotary modulation
  • Inertial navigation system random error suppression technology by biaxial rotary modulation

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Embodiment 1

[0037] A dual-axis rotation modulation inertial navigation system random error suppression technology, the specific implementation steps are as follows:

[0038] Step 1. Select parameters, including damping coefficient and angular frequency parameters, and design the external horizontal damping network;

[0039] Step 2. Design a rotation scheme for dual-axis rotation modulation, and compare the simulation results of different spin-to-stop schemes to determine the best scheme;

[0040] Step 3. Input the information obtained by the measurement of the inertial device into the part of the dual-axis rotation modulation system to obtain the navigation information that removes the constant value error and the slowly changing error;

[0041] Step 4. Input the navigation information obtained in step 3 and the external velocity information obtained by the Doppler log into the external horizontal damping network part to calculate the navigation result.

[0042] The external horizontal d...

Embodiment 2

[0075] The present invention relates to a random error suppression technology of dual-axis rotary inertial navigation system based on external horizontal damping. Based on the error model of marine dual-axis rotary modulation fiber optic gyro inertial navigation system, a random error suppression technology based on external horizontal damping is proposed. . This algorithm can not only suppress the navigation errors caused by the constant errors of the three axial inertial devices, but also suppress the influence of random errors on the navigation system, which improves the accuracy of the navigation system by more than 3 times.

[0076] Taking ships as an example, due to the needs of navigating at sea, ships have strict requirements on the navigation accuracy of the navigation system under long-term working conditions. However, due to the measurement error of the inertial device and other reasons, the error of the navigation system is accumulated over time, accounting for abo...

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Abstract

The invention provides an inertial navigation system random error suppression technology by biaxial rotary modulation. Through selecting parameters such as a damping coefficient and an angular frequency parameter, an external horizontal damping network is designed, a rotation scheme for biaxial rotary modulation is designed, the best scheme is determined through comparing simulation results of different rotation breakoff schemes, the information measured and obtained by an inertial device is inputted to a biaxial rotary modulation system part, the navigation information with constant errors and slowing varying errors removed is obtained, and the navigation information obtained in the third step and external velocity information acquired by a Doppler log are inputted to an external horizontal damping network part, and a navigation result is solved. Biaxial rotary modulation and the external horizontal damping technology are adopted to achieve the damping effects and compensate the errors generated as Schuler adjustment conditions are damaged, the errors generated due to the acceleration and the speed can be compensated, 84.4 min of Schuler periodic oscillation and Foucault oscillation can be suppressed effectively, and the positioning, speed fixing and attitude determination precision of a fiber optic gyro inertial navigation system can be increased by more than 3 times.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and in particular relates to a random error suppression technology of a dual-axis rotation modulation inertial navigation system. Background technique [0002] Taking ships as an example, due to the needs of navigating at sea, ships have strict requirements on the navigation accuracy of the navigation system under long-term working conditions. However, due to the measurement error of the inertial device and other reasons, the error of the navigation system is accumulated over time, accounting for about 92% of the system error, which seriously affects the accuracy of navigation and positioning. After adopting the dual-axis rotation modulation technology, the constant error of the inertial device in each axis can be effectively suppressed. At this time, the random error of the inertial device becomes the main factor affecting the navigation accuracy. In the undamped state, the navigati...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C25/00
Inventor 黄卫权马骏方涛程建华
Owner HARBIN ENG UNIV
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