A Dual-axis Rotation Modulation Method for Inertial Measurement Units with Redundant Configuration
An inertial measurement unit, redundant configuration technology, applied in measurement devices, navigation through velocity/acceleration measurement, instruments, etc., can solve the problems of inability to form an analysis model, and the modulation effect is reduced, so as to improve the modulation effect, reduce the impact, The effect of improving navigation accuracy
Active Publication Date: 2022-06-07
PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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Problems solved by technology
According to public information, only Cheng Jianhua’s team at home and abroad has conducted relevant preliminary research on the rotation modulation technology of redundant inertial navigation (Cheng Jianhua et al. Two-axis rotation modulation method for redundant configuration of strapdown inertial navigation tetrahedron[J]. System Engineering and Electronic Technology; Mou Hongjie. Research on Rotation Modulation Method of Redundant Strapdown Inertial Navigation System [D]. Harbin Engineering University), however, the analysis of rotation modulation in these studies is based on the specific redundant structure, and it is impossible to form a general analysis model , at the same time, its rotation modulation is only based on the carrier system, and the modulation effect will be significantly reduced when the carrier moves angularly
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[0047] Specific implementation plans
[0048] Specific embodiments of the present invention such as Figure 1 As shown, the specific implementation steps are as follows:
[0049] (1) According to the characteristics of the redundant configuration IMU constant error being linearly combined by the constant error of each sensor, a universal redundant IMU constant error model is constructed:
[0050]
[0051]
[0052] thereinto Respectively, IMUx, y,z-axis equivalent gyro constant error, Respectively, IMUx, y, z-axis equivalent accelerometer constant error, i is the sequence number of gyroscope or accelerometer, n is the total number of gyroscopes or accelerometers, ε i is the constant error of the ith gyroscope, ▽ i is the constant error of the ith accelerometer, k gxi 、k gyi 、k gzi The weight of the ith gyro constant error in the IMUx, y, z-axis equivalent gyro constant error, k fxi 、k fyi 、k fzi They are the weights of the ith accelerometer constant error in the IMUx, y, and z...
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The invention relates to a dual-axis rotation modulation method for redundantly configured inertial measurement units. Utilizing the characteristic that the constant value error of the redundant configuration inertial measurement unit is formed by the linear combination of the constant value errors of its various sensors, a general redundant inertial measurement unit constant value error model is constructed, and the constant value of the redundant inertial measurement unit is performed by dual-axis rotation Error modulation for error compensation. On this basis, considering the influence of the angular motion of the carrier on the dual-axis rotation modulation in actual navigation, a dual-axis rotation scheme based on the attitude angle is proposed to realize the error modulation in the navigation system, effectively isolate the angular motion of the carrier, and improve the error modulation effect. The invention can perform constant value error modulation on the redundantly configured inertial measurement unit, and at the same time still have a good modulation effect in the case of angular motion of the carrier, and significantly improve the navigation accuracy of the redundantly configured inertial measurement unit. The invention belongs to the technical field of inertial navigation and can be applied to error compensation of redundant configuration inertial measurement units.
Description
Technical field [0001] The present invention relates to a redundant configuration inertial measurement unit dual-axis rotary modulation method, suitable for the application of error compensation of the inertial measurement unit of the redundant configuration. [0002] Technical background [0003] Inertial navigation is the core technology for all kinds of carriers to achieve autonomous navigation, so the navigation accuracy and reliability of inertial navigation systems directly affect the navigation performance of carriers. The improvement of the navigation accuracy and reliability of the inertial navigation system can be achieved by improving the accuracy and reliability of the inertial device, however, simply improving the accuracy and reliability of the inertial device will greatly increase the cost, and the accuracy and reliability will be difficult to achieve technically after improving to a certain extent, therefore, in the case of inertial device accuracy and reliability,...
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IPC IPC(8): G01C21/16G01C25/00
CPCG01C21/16G01C25/005
Inventor 任元朱挺王丽芬翟雪瑞陈晓岑张健邹涛
Owner PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV