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Coarse alignment method of particle swarm algorithm

A particle swarm algorithm and coarse alignment technology, applied in the field of navigation, can solve problems such as alignment time reduction

Active Publication Date: 2020-06-23
HARBIN ENG UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

At present, the coarse alignment of the rocking base mainly adopts the construction of auxiliary vectors, solving the constant matrix, and finally solving the attitude matrix. The alignment time needs to be further reduced

Method used

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  • Coarse alignment method of particle swarm algorithm
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  • Coarse alignment method of particle swarm algorithm

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Embodiment Construction

[0070] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0071] combine figure 1 , the present invention comprises the following steps:

[0072] Step 1: Establish a multi-vector attitude determination model to solve the horizontal attitude;

[0073] The attitude matrix of the carrier coordinate system relative to the navigation coordinate system It can be expressed by multiplying the following four matrices

[0074]

[0075] The rotation matrix of the earth coordinate system relative to the navigation coordinate system can be obtained from the latitude of the carrier,

[0076]

[0077] L is the latitude of the location of the carrier.

[0078] The rotation matrix of the geocentric inertial system relative to the earth coordinate system It can be obtained from the angular rate of the earth's rotation and the alignment time,

[0079]

[0080] ω ie is the angular velocity of the e...

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Abstract

The invention discloses a coarse alignment method of a particle swarm algorithm.The methodcomprises the following steps of1, establishing a multi-vector attitude determination model, and solving a horizontal attitude; 2, establishing a particle swarm algorithm model; 3, constructing a particle swarm fitness function; 4, solving a particle premature convergence problem; and 5, updating a navigationcoordinate system attitude matrix by a carrier coordinate system. The method makes full use of a characteristic that horizontal attitude convergence of an inertial system alignment algorithm is fastso as to greatly reduce difficulty of constructing a fitness function of the particle swarm algorithm. According to the method, the particle swarm algorithm is applied to coarse alignment of the inertial system by utilizing a rapid estimation capability of the particle swarm algorithm so that alignment time of a swinging base is greatly shortened.

Description

technical field [0001] The invention relates to a coarse alignment method of a particle swarm algorithm, belonging to the technical field of navigation. Background technique [0002] The initial alignment technology is an important preparation work before the official work of the inertial navigation system, and the rough alignment is the key to the initial alignment, which has broad application prospects. Theoretically speaking, the alignment speed is one of the most important indicators of the rough alignment, and the length of the rough alignment time directly affects the quality of the initial alignment. Therefore, how to optimize the coarse alignment algorithm and further reduce the alignment time under the existing conditions while ensuring the accuracy of the coarse alignment is a problem that needs to be further studied in the direction of the initial alignment. At present, the coarse alignment of the rocking base mainly adopts the construction of auxiliary vectors, ...

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 徐博金坤明吴磊李盛新张娇王连钊郭瑜张大龙
Owner HARBIN ENG UNIV