Inertial navigation equipment alignment method based on gravity vector time difference

A technology of inertial navigation equipment, gravity vector, applied in the field of navigation

Active Publication Date: 2019-09-27
CENT SOUTH UNIV
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Problems solved by technology

[0011]In order to solve the above-mentioned technical problems in the background technology, the present invention provides a method that can well solve the problems of insufficient initial alignment accuracy and long time-consuming Alignment method for inertial navigation equipment based on gravity vector time difference

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  • Inertial navigation equipment alignment method based on gravity vector time difference
  • Inertial navigation equipment alignment method based on gravity vector time difference
  • Inertial navigation equipment alignment method based on gravity vector time difference

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Embodiment Construction

[0063] The realization principle of the present invention is: general thought is at first set up an arbitrary inertial coordinate system q (coordinate system meeting Newton's law of mechanics, promptly is absolutely static or only does the coordinate system of uniform linear motion), according to the real-time output of gyroscope, can The transformation matrix between the inertial coordinate system q and the machine system b is updated in real time to ensure that the inertial coordinate system q is stationary relative to the inertial space, so that the inertial coordinate system q automatically isolates any angular motion of the outside world, including the angular velocity of the earth's rotation. Then according to the output value of the accelerometer, the vector direction of gravity in the inertial coordinate system q can be calculated. Since the direction of the gravity vector rotates at the angular velocity of the earth's rotation in the inertial coordinate system, the dir...

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Abstract

The invention belongs to the technical field of navigation, and relates to an inertial navigation equipment alignment method based on gravity vector time difference. The method comprises the following steps: 1) establishing any inertial coordinate system, and updating a transformation matrix between the inertial coordinate system and a machine system in real time according to the real-time output of a gyroscope, thereby ensuring that the inertial coordinate system is static relative to an inertial space, and automatically isolating any external angular motion including the earth rotation angular velocity by the inertial coordinate system; 2) calculating a gravity vector direction of gravity in the inertial coordinate system, and determining real-time values of the sky direction and the east direction at any moment in the inertial coordinate system; 3) obtaining a conversion relationship between the northeast sky geographic coordinate system and the inertial coordinate system, determining a conversion matrix, namely an attitude matrix, of the northeast sky geographic coordinate system and the aircraft system, and completing initial coarse alignment. The invention provides the inertial navigation equipment alignment method based on gravity vector time difference, which can well solve the problems of insufficient initial alignment precision, overlong consumed time and the like.

Description

technical field [0001] The invention belongs to the technical field of navigation, and relates to an alignment method of a navigation device, in particular to an alignment method of an inertial navigation device based on a gravity vector time difference. Background technique [0002] Ships will be in a swaying state due to wind and wave interference during mooring or sailing, and modern warfare requires land military vehicles to have a quick start. However, in the case of wind blowing and soft ground, the strapdown inertial navigation system An autonomous navigation system that relies on any external information and does not radiate energy to the outside), the output of the gyroscope and accelerometer contains interference information caused by the sway of the ship and vehicle, especially the center of gravity of the missile launching vehicle is high, and the swing amplitude Significantly increased, the static base alignment method cannot be used for the initial alignment at...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 韩松来罗世林芦佳振董晶
Owner CENT SOUTH UNIV
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