Rotary modulation alignment method

A technology of rotation modulation and coarse alignment, applied in the field of inertial navigation, which can solve the problem that the rotation modulation period is destroyed in the fine alignment stage, the equivalent error of the accelerometer and gyroscope cannot be effectively rotated and modulated, and the rotation during the fine alignment process cannot be guaranteed. Modulation cycle and other issues, to achieve the effect of improving convergence speed and alignment accuracy, improving system alignment accuracy, and smoothing the solution value

Active Publication Date: 2021-04-30
TIANJIN NAVIGATION INSTR RES INST
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  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0007] To sum up, there are the following problems in the prior art: 1. The equivalent error of the accelerometer and gyroscope in the coarse alignment stage cannot perform effective rotation modulation; 2. The rotation modulation cycle in the fine alignment stage is destroyed, which cannot guarantee The fine alignment process has a complete rotation modulation cycl

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Embodiment Construction

[0106] Embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings:

[0107] An alignment method based on rotation modulation, including rotation modulation coarse alignment, rotation modulation forward navigation fine alignment, rotation modulation reverse navigation fine alignment, partial feedback correction and misalignment angle information fusion.

[0108] Its specific steps include:

[0109] Step 1. After the system is powered on and receives the startup command, based on figure 1 The rotational modulation strategy shown performs rotational modulation around the azimuth axis;

[0110] The concrete steps of described step 1 include:

[0111] (1) Alignment start time t 0 (set t 0 =0) The IMU is in a static state relative to the carrier, and the IMU is at the electrical zero position of the indexing mechanism. At this time, the IMU coordinate system (p system) coincides with the inertial navigation vehicle coor...

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Abstract

The invention relates to a rotary modulation alignment method. The method is technically characterized in that rotary modulation is carried out in a coarse alignment stage, constant errors of an equivalent horizontal accelerometer and constant errors of an equivalent east gyroscope are modulated, coarse alignment precision is improved, and meanwhile, when a fine alignment stage is reversely navigated to a coarse alignment stage, integrity of a rotation modulation period in the fine alignment stage is ensured, and the precision of precision alignment is improved; and information fusion filtering is used to carry out smooth filtering on state vector estimation of misalignment angles obtained by forward navigation alignment and reverse navigation alignment, optimal estimation of the misalignment angles is acquired, and then the precision of an inertial navigation system is further improved.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, in particular to an alignment method based on rotation modulation. Background technique [0002] With the continuous improvement of vehicle-mounted weapon system's requirements for speed and mobility, the vehicle-mounted positioning and orientation system must have the ability to quickly enter the working state. The speed and accuracy of the initial alignment are the key indicators for the vehicle positioning and orientation system to quickly enter the working state. However, the rapidity and accuracy of the initial alignment are often contradictory. Therefore, how to realize the rapid and high-precision initial alignment of the vehicle-mounted positioning and orientation system is of great significance for improving the speed and mobility of the vehicle-mounted weapon system. . [0003] The initial alignment of the rotary vehicle positioning and orientation system is mainly divided...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 侯志宁蒋茂荣项铮刘康沈扬清
Owner TIANJIN NAVIGATION INSTR RES INST
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