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Recursive multi-subsample large dynamic inertial navigation method

An inertial navigation and large dynamic technology, which is applied to combined navigators, navigation through speed/acceleration measurement, etc. It can solve the problems of angular velocity continuity and limited compensation effect without considering adjacent navigation cycles, and increase the navigation update cycle. , the effect of reducing the output burden and improving the accuracy of inertial navigation

Active Publication Date: 2020-06-30
BEIJING INST OF CONTROL ENG
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Problems solved by technology

However, the existing multi-sample update algorithm does not consider the continuity of the angular velocity of adjacent navigation cycles, resulting in limited compensation effect

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  • Recursive multi-subsample large dynamic inertial navigation method
  • Recursive multi-subsample large dynamic inertial navigation method
  • Recursive multi-subsample large dynamic inertial navigation method

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[0045] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0046] A recursive multi-sample large dynamic inertial navigation method, such as figure 1 shown, including the following steps:

[0047]1) According to the angular increment of the gyro of the lander and the continuity characteristics of the angular velocity, polynomial fitting is performed on the angular velocity of the lander to obtain the angular velocity polynomial.

[0048] Consider [t m ,t m+1 ] navigation update in the interval, polynomial fitting is performed on the angular velocity in the time interval

[0049] ω(t m +τ)=a m +b m τ+c m τ 2 0≤τ≤ΔT (1)

[0050] Where ω is the inertial angular velocity projected in the IMU body coordinate system, ΔT=t m+1 -t m is the navigation update cycle, a m ,b m ,c m Respecti...

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Abstract

A recursive multi-subsample large dynamic inertial navigation method belongs to the technical field of spacecraft autonomous navigation, and comprises the following steps: S1, according to continuitycharacteristics of angle increment and angular velocity of a gyro of a lander, performing polynomial fitting on the angular velocity of the lander to obtain an angular velocity polynomial; S2, solvinga rotation vector of the lander by utilizing an angular velocity polynomial; S3, constructing a rotation quaternion by using the rotation vector of the lander; S4, calculating to obtain an attitude quaternion at the current moment by utilizing the attitude quaternion at the previous moment and the rotation quaternion in S3; obtaining the inertia speed at the current moment by utilizing the inertia speed at the previous moment, the attitude quaternion at the previous moment and the angle increment of the gyroscope of the lander; and obtaining the inertial position at the current moment by utilizing the inertial position at the previous moment, the inertial speed at the previous moment and the inertial speed at the current moment. According to the method, the inertial navigation precision under large dynamic motion is greatly improved.

Description

technical field [0001] The invention relates to a recursive multi-sample large dynamic inertial navigation method, which belongs to the technical field of spacecraft autonomous navigation. Background technique [0002] The Entry, Descent, and Landing (EDL) section of the Mars exploration mission is the last 6 or 7 minutes of the Mars probe’s journey of nearly 700 million kilometers. It is the key stage of the Mars surface exploration mission and the most difficult stage. EDL technology is also one of the key technologies for Mars surface exploration missions. From the time the Mars probe entered the Martian atmosphere at a speed of 20,000 kilometers per hour, it went through a series of stages such as atmospheric deceleration, parachute drag, and power deceleration, and finally in order to ensure a safe and accurate landing on the surface of Mars. The dynamics of Mars entering the descent process are extremely large, especially the angular velocity of the parachute section...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/18G01C21/24
CPCG01C21/18G01C21/24
Inventor 李茂登黄翔宇郭敏文徐超魏春岭张晓文胡锦昌王晓磊王云鹏刘旺旺张琳
Owner BEIJING INST OF CONTROL ENG
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