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A 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: 2021-04-20
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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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  • A Coarse Alignment Method of Particle Swarm Algorithm
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  • A Coarse Alignment Method of Particle Swarm Algorithm

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Experimental program
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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, comprising: step 1: establishing a multi-vector attitude determination model, and solving a horizontal attitude; step 2: establishing a particle swarm algorithm model; step 3: constructing a particle swarm fitness function; Step 4: Solve the problem of premature convergence of particles; Step 5: Update the attitude matrix of the carrier coordinate system to the navigation coordinate system; the present invention makes full use of the characteristics of the inertial system alignment algorithm that converges quickly in horizontal attitude, which greatly reduces the number of particles in the construction of particle swarms. The difficulty of the algorithm fitness function. The invention utilizes the fast estimation capability of the particle swarm algorithm, applies the particle swarm algorithm to the coarse alignment of the inertial system, and greatly shortens the alignment time of the swing base.

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, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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