High-precision carrier dynamic attitude measurement method and system

Abstract

The invention provides a high-precision carrier dynamic attitude measurement method and system, and the system comprises two micro-electro-mechanical inertial measurement units, one unit employs a double-position reciprocating transposition mode, and the other unit employs a mode of being fixedly connected with a carrier. Relative attitude, position, speed and the like between the two micro-electro-mechanical inertial measurement units are introduced as new observed quantities, and zero offset of gyroscopes and accelerometers of the two micro-electro-mechanical inertial measurement units is effectively estimated, so that the two sets of systems can be better compensated. The micro-electromechanical inertial measurement unit fixedly connected with the carrier is used as attitude output inertial navigation, so that the phenomenon of peak jump of an attitude calculation result caused by reciprocating rotation of the first micro-electromechanical inertial measurement unit is successfully eliminated, and the precision of the whole system is improved. In the using process, accurate position information does not need to be introduced, so that satellite signals do not need to be introduced, and the system has better anti-interference performance, stability and concealment.

Description

technical field [0001] The invention relates to the technical field of inertial navigation, in particular to a high-precision carrier dynamic attitude measurement method and system. Background technique [0002] Inertial navigation is a purely autonomous navigation method that only needs to rely on inertial device information without introducing external information and will not radiate information to the outside world. Because it does not require external information and will not radiate signals to the outside world, it has a good Anti-jamming, reliability and concealment, because of this, inertial navigation technology has become an important part of the field of navigation technology, and has also been widely used in actual navigation tasks. [0003] With the development of inertial navigation technology, the inertial navigation system is increasingly developing in the direction of miniaturization and high precision. Micro-electromechanical inertial measurement units have...

AI Technical Summary

Problems solved by technology

[0004] At present, the attitude information applied by the various subsystems on the ship is transmitted by the main inertial navigation system on the ship. Since the deck of the ship at sea will be deformed, the data transmission between the main inertial navigation system and the subsystem Factors such as time delay lead to inaccurate attitude information obtained by the subsystem

In order to solve this problem, each subsystem should be equipped with a corresponding high-precision attitude measurement system. However, most of the current high-precision dynamic attitude measurement systems use high-precision systems (such as fiber optic gyroscopes, laser gyroscopes, etc.), which are expensive and bulky. Larger, not conducive to a large number of equipment on the ship, so the weapon subsystem on the ship cannot have its own high-precision attitude measurement system, making the attitude value of each subsystem inaccurate

[0005] Some existing methods also have their own disadvantages, such as the use of static micro-electromechanical inertial measurement units, whose accuracy is low and cannot meet the application requirements

For example, the scheme of introducing satellite signals to measure attitude through integrated navigation is very vulnerable to external interference and the reliability decreases

For example, in the application process of a single single-axis rotating inertial measurement unit system, the reciprocating rotation process of the system will cause peak jumps in the attitude calculation results, which will reduce the accuracy of the attitude calculation results

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