Design Method of Trajectory Generator for Long Endurance Inertial Navigation System Based on Track Planning

Abstract

The invention discloses a design method for a track generator of an inertial navigation system based on track planning. The invention can effectively overcome the difficulty of artificially designing the motion state in the traditional trajectory generator design method, reduce the time and cost spent in research and testing, and improve the research efficiency of the gravity-assisted inertial navigation system. The invention combines track planning with gyroscope, accelerometer and navigation data generation to form a long-endurance aircraft track generator, which facilitates verification of theory and method, and reduces the time and cost of actual tests. In addition, the present invention converts the velocity, angular velocity and heading information into centripetal acceleration, tangential acceleration and angular velocity information according to the planned track for trajectory generator design, and the state switching process is naturally continuous, avoiding too ideal data when artificially designing the motion state It is closer to the actual state of the aircraft motion, which improves the effectiveness of gravity-assisted inertial navigation research.

Description

technical field [0001] The invention relates to the technical field of navigation, guidance and control, in particular to a design method for a track generator of a long-endurance inertial navigation system based on track planning. Background technique [0002] Inertial navigation system is widely used in various carriers of land, sea, air and space because it can provide navigation and positioning information such as position, speed and attitude for the carrier in real time. For long-duration carriers such as underwater vehicles, the error of the inertial navigation system diverges with time, which cannot meet the navigation requirements. However, marine gravity measurement is passive and the gravity information is stable. Gravity-assisted inertial navigation has become a research hotspot for underwater autonomous navigation. With the in-depth research on the gravity-assisted inertial navigation system, a lot of research and testing work is required. The actual test has p...

AI Technical Summary

Problems solved by technology

However, the long-endurance inertial navigation system has the characteristics of long driving time, long driving distance, and complex driving trajectory. The traditional method artificially sets different motion states at each stage, which is difficult to design, and cannot include the characteristic parameters of the gravity field.

Moreover, in the artificially designed motion state process, each state is directly combined without considering the transition when the state is switched, resulting in the data generated by the traditional method being too ideal when the motion state is switched, which does not conform to the continuous change in the actual process.

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