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Biaxial rotation modulation initial fine alignment method

A dual-axis rotation, state transition matrix technology, applied in the field of initial alignment of inertial navigation systems, can solve the problem of short alignment time for the system

Active Publication Date: 2021-01-29
AIR FORCE UNIV PLA
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Problems solved by technology

Generally, it is impossible to require the system to meet the short alignment time under the premise of required accuracy.

Method used

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  • Biaxial rotation modulation initial fine alignment method

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Embodiment Construction

[0073] The basic principles of this method are:

[0074] By introducing the 16-position turn-stop scheme, the effective estimation of the constant zero offset of the inertial device is realized, and the accuracy and reliability of the initial fine alignment result are improved. By increasing the data update rate, the convergence time of the filter is shortened, the time requirement for the initial alignment of the inertial navigation system is reduced, and the vehicle's maneuverability and battlefield survivability are improved. In order to effectively solve the problem of increased computational complexity caused by increasing the update rate of filter data, we optimized the update design of the state transition matrix, and realized the update method of the state transition matrix based on matrix multiplication instead of high-order discretization, which is effective It reduces the computational complexity of the filter calculation process, provides support for the good real-...

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Abstract

The invention provides a biaxial rotation modulation initial fine alignment method. The method comprises the steps: acquiring the latitude and elevation information of the position where the carrier is located, completing the coarse alignment process of the system, and executing the fine alignment process based on the navigation calculation result. The method mainly solves the problems that in thefine alignment process, due to the fact that constant zero offset of an inertial device in an error model is not completely observable, and the convergence speed is low. By introducing the double-shaft rotation modulation mechanism, an error model can be improved to meet completely observable conditions, so the precision and reliability of an alignment result are ensured. By shortening the discretization time and increasing the length of the observation sequence in unit time, richer observation information is obtained, the convergence time of the equivalent sky-oriented gyroscope constant zero offset estimation sequence is greatly shortened, and the rapidity of initial alignment is improved. By optimizing the updating method of the discretization error model, the problem that the calculation complexity is increased due to the fact that the filtering period is shortened is solved. In combination with the three parts, the patent provides a rapid and high-precision biaxial rotation modulation initial fine alignment method with high engineering practicability.

Description

technical field [0001] The invention belongs to the field of initial alignment of inertial navigation systems in navigation technology, and in particular relates to a method for initial fine alignment of two-axis rotation modulation. Background technique [0002] Navigation technology is a technology that provides relevant information such as position, velocity, attitude, and time for different vehicles, and is closely related to the safety of vehicles during mission completion, so it has received extensive attention. Inertial navigation technology is a commonly used navigation technology for different weapon system platforms. Due to the requirements of its working characteristics, the inertial navigation system is a system that obtains navigation information such as carrier position, velocity and attitude in real time from the measurement information of inertial devices based on the initial position, velocity and attitude information. [0003] Due to its reliability, auton...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 冯波张鹏李炳辰郭庆姜俊赵搏欣许洁
Owner AIR FORCE UNIV PLA
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