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Attitude calculation method for high-dynamic variable-speed carrier

A variable speed, high dynamic technology, applied in the field of navigation, can solve the problem of reducing the frequency of attitude update

Active Publication Date: 2020-02-28
SOUTHEAST UNIV
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Problems solved by technology

[0005] In order to solve the problem that the multi-sample rotation vector method will reduce the attitude update frequency, a high dynamic variable speed carrier attitude calculation method is proposed; using the current and previous attitude update cycle angle increment information and the current and previous N moments Monadic Rotation Vector Attitude Calculation Method Based on Angular Rate Information

Method used

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  • Attitude calculation method for high-dynamic variable-speed carrier
  • Attitude calculation method for high-dynamic variable-speed carrier
  • Attitude calculation method for high-dynamic variable-speed carrier

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specific Embodiment

[0107] According to the above method steps, this embodiment uses the trajectory generator to simulate the movement trajectory of a highly dynamic variable speed carrier. The simulation time is 30s, and the heading angle changes from 90° to 120° within 30s, and the pitch angle changes from 45° to -45°. , the initial moment of the roll angle is 0°, the speed drops from 20r / s to 5r / s within 0~15s, the speed drops from 5r / s to 1r / s within 15s~20s, and the speed remains at 1r / s within 20s~30s . At launch, the longitude of the carrier is 114°E, the latitude is 30°N, and the altitude is 0 meters. The bias stability of the gyroscope is set to 20° / h, and the bias stability of the accelerometer is set to 100 μg.

[0108] If the rotational speed within 0-20s is greater than 1r / s, it is judged to be a high rotational speed, and the sampling rate of the inertial navigation system is 1000Hz, and the attitude quaternion is updated with the single sample rotation vector method proposed by th...

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Abstract

The invention discloses an attitude calculation method for a high-dynamic variable-speed carrier, and belongs to the field of inertial navigation. According to the method, the process of judging the rotating speed of a carrier is added in the process of resolving the attitude, so that when the rotating speed of the carrier is high, an inertial navigation system adopts higher sampling frequency toensure that a resolving result meets the precision requirement; when the carrier rotates at a low speed, the sampling frequency of the inertial navigation system is properly reduced so as to reduce the burden of hardware. When at high rotational speed, the invention provides a single subsample rotation vector algorithm based on angular rate output, the attitude can be updated according to the sampling frequency of the inertial navigation system, meanwhile, the current and previous attitude update cycle angle increment information and the current and previous angular rate information are used for compensating cone errors, and an error compensation coefficient can be obtained by solving a linear equation set. The method can effectively solve the problem of attitude solution of the high-dynamic variable-speed carrier.

Description

technical field [0001] The invention belongs to the technical field of navigation, and in particular relates to an attitude calculation method of a strapdown inertial navigation system applied to a carrier with high dynamic variable speed. Background technique [0002] In the strapdown inertial navigation system, the inertial device is directly connected to the carrier, and at the same time bears the angular motion and linear motion of the carrier. Through gyroscope measurement and software calculation, a virtual stable platform - "mathematical platform" is established. Using the mathematical platform, the The accelerometer measurement in the vehicle coordinate system is converted to the navigation coordinate system, and then the velocity and position integral solution is performed. The strapdown inertial navigation system has the advantages of strong anti-interference ability and does not require additional information from the external environment. [0003] Attitude resol...

Claims

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Application Information

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IPC IPC(8): G06F17/13G06F17/16G01C21/16
CPCG06F17/13G06F17/16G01C21/16
Inventor 陈熙源卢世昕
Owner SOUTHEAST UNIV
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