Doppler radar assisted strapdown inertial navigation motion base alignment method and system

Abstract

The invention discloses a Doppler radar assisted strapdown inertial navigation motion base alignment method and system. The method comprises the following steps: acquiring a vehicle-carrying longitudinal speed output by a dual-beam Doppler velocity measurement radar; obtaining the speed and course angle output by the strapdown inertial navigation system and the vehicle carrying angular speed output by the gyroscope; according to the vehicle-carrying longitudinal speed and the vehicle-carrying angular speed, performing calculating to obtain the speed and course angle of the vehicle under the navigation coordinate system; respectively subtracting the speed and course angle output by the strapdown inertial navigation system from the calculated speed and course angle of the carrier vehicle toobtain two measurements aligned with the moving base, taking the two measurements as observed quantities, performing state estimation by adopting an adaptive filtering algorithm to obtain an estimatedvalue of the misalignment angle of the mathematical platform, and further obtaining a carrier vehicle attitude correction matrix; and correcting the attitude matrix of the strapdown inertial navigation system to finish alignment of the strapdown inertial navigation motion base. According to the invention, rapid, high-precision and high-autonomy initial alignment of the vehicle-mounted strapdown inertial navigation system can be completed in the vehicle-mounted driving process.

Description

technical field [0001] The invention relates to the field of strapdown inertial navigation systems, in particular to a Doppler radar-assisted strapdown inertial navigation motion base alignment method and system. Background technique [0002] Before entering the navigation working state, the strapdown inertial navigation system must perform initial alignment, that is, establish the attitude relationship of the carrier coordinate system relative to a certain reference coordinate system, and its alignment time and alignment accuracy will directly affect the strapdown inertial navigation system. The system's rapid response capability and navigation positioning accuracy. [0003] The traditional initial alignment is to use the gyroscope and accelerometer in the strapdown inertial navigation system to sense the earth's rotation angular velocity and gravitational acceleration under the condition that the base is stationary, and to achieve initial alignment through an analytical me...

AI Technical Summary

Problems solved by technology

However, satellite navigation signals are susceptible to interference or shielding, so the anti-interference and autonomy of satellite-assisted alignment are poor, which limits its wide application in the military field; The impact of the impact, as well as the impact of changes in tire pressure, resulting in relatively complex engineering use, the alignment accuracy is easily affected by external interference factors

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