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A Recursive Multi-Sample Large Dynamic Inertial Navigation Method

A technology of inertial navigation and large dynamics, which is applied in the direction of integrated navigator and navigation through speed/acceleration measurement, etc. It can solve the problems of limited compensation effect and no consideration of the continuity of angular velocity in adjacent navigation cycles, so as to reduce the output burden, The effect of increasing the navigation update cycle and reducing the calculation burden

Active Publication Date: 2021-12-07
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

Method used

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  • A Recursive Multi-Sample Large Dynamic Inertial Navigation Method
  • A Recursive Multi-Sample Large Dynamic Inertial Navigation Method
  • A Recursive Multi-Sample Large Dynamic Inertial Navigation Method

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[0045] In order to make the objectives, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

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

[0047]1) According to the angular increment of the gyroscope of the lander and the continuity characteristics of the angular velocity, perform polynomial fitting 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 of the angular velocity in this 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 For the navigation update cycle, a m ,b m ,c m respectively [t m ,t m+1 ] ...

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Abstract

A recursive multi-sample large dynamic inertial navigation method belongs to the technical field of spacecraft autonomous navigation, comprising the following steps: S1, according to the angle increment of the gyroscope of the lander and the continuity characteristics of the angular velocity, the angular velocity of the lander is simulated by a polynomial S2, use the angular velocity polynomial to solve the rotation vector of the lander; S3, use the rotation vector of the lander to construct a rotation quaternion; S4, use the attitude quaternion at the last moment and the value described in S3 Rotate the quaternion to calculate the attitude quaternion at the current moment; use the inertial velocity at the previous moment, the attitude quaternion at the previous moment, and the angle increment of the gyro of the lander to obtain the inertial velocity at the current moment; use the above The inertial position at one moment, the inertial velocity at the previous moment, and the inertial velocity at the current moment are used to obtain the inertial position at the current moment. The method of the invention greatly improves the precision of inertial navigation under large dynamic motion.

Description

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

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Application Information

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Patent Type & Authority Patents(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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