SINS strapdown inertial navigation system shaking base coarse alignment method based on special orthogonal group optimal estimation
A strapdown inertial navigation and optimal estimation technology, applied in measurement devices, instruments, etc., can solve problems such as affecting the accuracy and time of rough alignment, and cannot guarantee global optimality.
Pending Publication Date: 2021-01-12
BEIJING UNIV OF TECH
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Although the Wahba method can make full use of all the measurement information, it cannot guarantee the global optimum, which will affect the alignment accuracy and time during the coarse alignment process
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[0107] The present invention is based on the SINS strapdown inertial navigation system shaking base rough alignment method design based on the optimal estimation of special orthogonal groups. The specific implementation steps of the present invention will be described in detail below in conjunction with the system flow chart of the present invention:
[0108] The SINS strapdown inertial navigation system rocking base coarse alignment method based on the optimal estimation of special orthogonal group provided by the present invention first obtains real-time data from sensors; processes the collected data, and establishes based on special orthogonal group differential equations Linear coarse alignment system model based on special orthogonal group description; use special orthogonal group optimal estimation algorithm to estimate the initial attitude matrix based on special orthogonal group description and solve for the pose matrix During coarse alignment, after multiple estima...
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The invention discloses an SINS strapdown inertial navigation system shaking base coarse alignment method based on special orthogonal group optimal estimation, and the method employs special orthogonal group description to replace conventional quaternion description to achieve the calculation of SINS attitude transformation, and employs a special orthogonal group differential equation to build a linear coarse alignment model based on the special orthogonal group description. A new attitude error function based on the cosine relation between vectors is designed. According to the method, the gradient of the attitude error function is used as an innovation item, so that the attitude error is quickly converged along the gradient direction, and the alignment time is greatly shortened; and the attitude is described by using a special orthogonal group, so that the problems of non-uniqueness and nonlinearity caused by describing an initial attitude matrix by using a traditional quaternion areavoided, and the alignment precision is effectively improved. The method has practical value in actual engineering.
Description
technical field [0001] The invention discloses a rough alignment method for a shaking base of a SINS strapdown inertial navigation system based on the optimal estimation of a special orthogonal group, which belongs to the technical field of navigation methods and applications. Background technique [0002] The strapdown inertial navigation system is an autonomous navigation system, which does not rely on external information or radiate any energy to the outside world during work. Sports information. Initial alignment is one of the most important techniques in SINS, and its purpose is to obtain an initial pose matrix. The initial alignment accuracy of the inertial navigation system is directly related to the working accuracy of the system. The initial alignment time is an important technical index of the inertial navigation system. The traditional initial alignment method usually adopts the method of coarse alignment plus fine alignment. [0003] The research on the coars...
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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 裴福俊尹舒男杨肃张恒铭
Owner BEIJING UNIV OF TECH