Single-axis fiber-optic gyroscope north-seeking method with autonomous navigation function and navigation attitude navigation method
A fiber optic gyroscope and autonomous navigation technology, applied in the field of inertial navigation, can solve the problems of poor accuracy and great influence, and achieve the effect of maintaining the course
Active Publication Date: 2020-03-27
CHONGQING HUAYU ELECTRIC GRP
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However, the shortcoming of this navigation system is that it must rely on the magnetic sensor to provide the initial heading, and cannot complete north-seeking autonomously through inertial navigation, and the magnetic sensor is greatly affected by the surrounding magnetic field environment, and the north-seeking accuracy is on the order of more than 1 degree. poor
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[0052] The present invention will be further described in detail below in conjunction with the accompanying drawings.
[0053] Such as figure 1 As shown, the present invention discloses a single-axis fiber optic gyro north-finding method with autonomous navigation function, which is characterized in that it includes the following steps:
[0054] S101. Obtain the output value α of the fiber optic gyroscope;
[0055] S102. Rotate the fiber optic gyroscope 180 degrees around the sensitive axis to obtain the output value β of the fiber optic gyroscope;
[0056] S103. Calculate the angle ψ between the sensitive axis of the fiber optic gyroscope and the true north direction based on the output value α and the output value β;
[0057] S104. Obtain the output values a1 and a2 of the first accelerometer and the second accelerometer;
[0058] S105. Calculate the real-time pitch angle θ and roll angle φ of the carrier based on the output values a1 and a2, respectively, and complet...
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The invention discloses a single-axis fiber-optic gyroscope north-seeking method with an autonomous navigation function. The single-axis fiber-optic gyroscope north-seeking method comprises the following steps: S101, acquiring an output value alpha of a fiber-optic gyroscope; S102, rotating the fiber-optic gyroscope by 180 degrees around a sensitive shaft to obtain an output value beta of the fiber-optic gyroscope; S103, calculating an included angle psi between the sensitive shaft of the fiber-optic gyroscope and the true north direction based on the output value alpha and the output value beta; S104, acquiring output values a1 and a2 of the first accelerometer and the second accelerometer; and S105, respectively calculating a real-time pitch angle theta and a roll angle phi of the carrier based on the output values a1 and a2 to complete north-seeking. According to the invention, one fiber-optic gyroscope and two accelerometers are utilized, autonomous north-seeking is completed without external assistance, and the invention also discloses a single-axis fiber-optic gyroscope navigation attitude navigation method with an autonomous navigation function, so that course keeping is realized.
Description
technical field [0001] The invention relates to the technical field of inertial navigation, in particular to a north-seeking method and attitude navigation method of a single-axis optical fiber gyro with an autonomous navigation function. Background technique [0002] Due to its own characteristics, the inertial navigation system is widely used in navigation systems in aerospace, navigation, land and other fields. A traditional inertial navigation system includes three fiber optic gyros and three accelerometers. [0003] In the prior art, in order to simplify the construction, researchers have developed an inertial navigation system that only includes one fiber optic gyroscope and two accelerometers. However, the shortcoming of this navigation system is that it must rely on the magnetic sensor to provide the initial heading, and cannot complete north-seeking autonomously through inertial navigation, and the magnetic sensor is greatly affected by the surrounding magnetic fie...
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IPC IPC(8): G01C19/64G01C21/16
CPCG01C19/64G01C21/16
Inventor 王福亮王修修朱渝飞冉恒
Owner CHONGQING HUAYU ELECTRIC GRP