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

A Doppler radar and strapdown inertial navigation technology, which is applied in the field of Doppler radar-assisted strapdown inertial navigation motion base alignment method and system, can solve the problem of satellite-assisted alignment, poor anti-interference, poor autonomy, and quasi-accuracy. It is easily affected by external interference factors, and satellite navigation signals are susceptible to interference or shielding, so as to achieve the effect of increasing observability, ensuring stability and convergence accuracy, and low cost

Active Publication Date: 2022-03-01
ROCKET FORCE UNIV OF ENG
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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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  • A Doppler radar-assisted strapdown inertial navigation motion base alignment method and system
  • A Doppler radar-assisted strapdown inertial navigation motion base alignment method and system
  • A Doppler radar-assisted strapdown inertial navigation motion base alignment method and system

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Embodiment Construction

[0072] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0073] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0074] In order to meet the rapid mobility requirements of modern warfare for weapon systems, it is necessary to complete the fast and high-precision initial alignment of the vehicle-mounted strapdown inertial navi...

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Abstract

The invention discloses a Doppler radar-assisted strapdown inertial navigation motion base alignment method and system. The method includes: obtaining the longitudinal velocity of the vehicle output by the dual-beam Doppler speed measuring radar; acquiring the velocity and heading angle output by the strapdown inertial navigation system and the angular velocity of the vehicle output by the gyroscope; according to the longitudinal velocity and the angular velocity of the vehicle, Calculate the speed and heading angle of the downloading vehicle in the navigation coordinate system; make the difference between the speed and heading angle output by the strapdown inertial navigation system and the speed of the vehicle and the heading angle of the vehicle obtained by the calculation, and obtain the motion base pair The two measurements of the accuracy are used as observations, and the adaptive filtering algorithm is used for state estimation to obtain the estimated value of the misalignment angle of the mathematical platform, and then the vehicle attitude correction matrix is ​​obtained, and the attitude matrix of the strapdown inertial navigation system is calculated. Correction, complete alignment of SINK kinematic base. The invention can complete the fast, high-precision and high-autonomous initial alignment of the vehicle-mounted strapdown inertial navigation system during the vehicle-carrying running 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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 杨波樊红东杨剑熊陶徐军辉薛亮任飞龙
Owner ROCKET FORCE UNIV OF ENG
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