High-precision carrier dynamic attitude measurement method and system

Abstract

The invention provides a high-precision carrier dynamic attitude measurement method and system, which includes two micro-electromechanical inertial measurement units, one of which adopts a double-position reciprocating indexing method, and the other adopts a method of being fixedly connected with the carrier. Introduce the relative attitude, position, and velocity between two MEMS IMUs as new observations, and effectively estimate the zero bias of the gyroscope and accelerometer of the two MEMS IMUs, so that the two sets of IMUs can be better The system compensates. The MEMS inertial measurement unit fixedly connected to the carrier is used as the attitude output inertial navigation, which successfully eliminates the phenomenon of peak jumps in the attitude calculation results caused by the reciprocating rotation of the first MEMS inertial measurement unit, and improves the overall system. accuracy. During the use of the present invention, accurate position information is not required to be introduced, so satellite signals do not need to be introduced, so that 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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