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Method for quickly correcting deep sea inertial navigation orientation

An azimuth and deep-sea technology, applied in the field of inertial navigation, can solve the problems of strapdown inertial navigation system, such as weak azimuth observability and slow convergence speed of azimuth misalignment angle

Pending Publication Date: 2020-11-20
HEBEI HANGUANG HEAVY IND
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Problems solved by technology

[0004] Due to the weak azimuth observability of the strapdown inertial navigation system, the azimuth misalignment angle converges slowly during the Kalman filter correction process

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  • Method for quickly correcting deep sea inertial navigation orientation
  • Method for quickly correcting deep sea inertial navigation orientation
  • Method for quickly correcting deep sea inertial navigation orientation

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Embodiment Construction

[0060] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0061] The present invention provides a method for quickly correcting the azimuth of deep-sea inertial navigation, the principle of which is as follows: figure 1 shown, including the following steps:

[0062] S1. The carrier is equipped with a strapdown inertial navigation system and a Doppler log DVL; the strapdown inertial navigation system includes two parallel strapdown integral solvers, respectively the first solver I and the second solver Device II. The strapdown integral solver is the solving program of the strapdown inertial navigation system.

[0063] S2. Construct a horizontal fine alignment filter, and use the output of the first resolver I and the Doppler log DVL to estimate the horizontal misalignment angle.

[0064] In the embodiment of the present invention, S2 includes the following specific steps:

[0065] S201. Constructing a horizont...

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Abstract

The invention discloses a method for quickly correcting deep sea inertial navigation orientation, which belongs to the technical field of inertial navigation, and aims to correct the orientation of the deep sea inertial navigation, greatly shorten the correction time and greatly improve the correction precision. The method comprises the following steps of S1, carrying a strapdown inertial navigation system and a Doppler log DVL on a carrier, wherein the strapdown inertial navigation system comprises two parallel strapdown integral resolvers, namely a first resolver I and a second resolver II,S2, constructing a horizontal fine alignment filter, and estimating a horizontal misalignment angle according to the outputs of the first resolver I and the Doppler log DVL, S3, feeding back the horizontal misalignment angle to the second resolver II, and controlling the carrier to start turning maneuver, S4, constructing an orientation fine alignment filter, and estimating an orientation misalignment angle according to the output of the second resolver II and the Doppler log DVL, and S5, feeding back the orientation misalignment angle to the second resolver II, completing carrier attitude correction, and feeding back the corrected carrier attitude to the first resolver I.

Description

technical field [0001] The invention relates to the technical field of inertial navigation, in particular to a method for quickly correcting the azimuth of deep-sea inertial navigation. Background technique [0002] Inertial navigation is based on Newton's classical mechanics theory, and uses gyroscopes and accelerometers to measure the angular velocity and linear acceleration of the carrier to calculate its attitude, velocity and position. The inertial navigation system can complete the navigation and positioning task only by relying on the measurement value of its own inertial sensor without the help of external information, and has autonomy and concealment that cannot be compared with other navigation methods. As an indispensable means of navigation, inertial navigation has been widely used in many fields, especially in the military field. [0003] Because it is a dead reckoning method, the accuracy of the inertial navigation system will decrease rapidly with the growth ...

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Application Information

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IPC IPC(8): G01C25/00G01C21/16G01C21/20
CPCG01C25/005G01C21/203G01C21/16
Inventor 黄科姜校亮可伟
Owner HEBEI HANGUANG HEAVY IND
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