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Method for performing rapid initial alignment on strapdown inertial navigation system of launched underwater vehicle

An inertial navigation system and underwater navigation technology, applied in the direction of instruments, measuring devices, etc., can solve problems such as difficulty in applying rapid initial alignment, achieve the effects of reducing launch preparation time, improving maneuverability, and reducing the duration of fine alignment

Active Publication Date: 2021-06-22
NORTHWESTERN POLYTECHNICAL UNIV
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  • Claims
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Problems solved by technology

The platform compass alignment is difficult to apply to the rapid initial alignment of the underwater vehicle in a moving state

Method used

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  • Method for performing rapid initial alignment on strapdown inertial navigation system of launched underwater vehicle
  • Method for performing rapid initial alignment on strapdown inertial navigation system of launched underwater vehicle
  • Method for performing rapid initial alignment on strapdown inertial navigation system of launched underwater vehicle

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specific Embodiment

[0111] The three-axis zero drift of the strapdown inertial navigation gyroscope installed on the underwater vehicle is 0.005 / h, and the three-axis zero offset of the accelerometer is 50 μg. Doppler velocity meter accuracy is 1% ± 1mm / s. The launch site is located at a latitude of 32.62°. The attitude angle (pitch angle, roll angle, azimuth angle) of the underwater vehicle before launch is [0° 0° 45°] T . After launch, it will carry out a constant speed and direct flight with a heading of 45° east by north and a speed of 10m / s. Set the alignment time to 300 seconds, ie t s = 0s, t e = 300s.

[0112] Step 1: The underwater vehicle is roughly aligned on the carrier platform to obtain a rough attitude array and initial velocity v n (t s0 ). by attitude array and the true value of aircraft attitude [0° 0° 45°] T Comparison, it can be obtained that the misalignment angle at this time is [10' 10' 120'] T . initial velocity v n (t s0 )=[7m / s 7m / s 0m / s] T .

[0113] ...

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Abstract

The invention relates to a method for performing rapid initial alignment on a strapdown inertial navigation system of a launched underwater vehicle. According to the method, coarse alignment is carried out on the strapdown inertial navigation system of the underwater vehicle before the underwater vehicle is launched, the coarsely aligned underwater vehicle is launched, and then the underwater vehicle performs fine alignment by using the method while executing a maneuvering task. The method comprises the following specific implementation steps of: storing the data of the gyroscope and accelerometer of the inertial navigation system and velocity data of a Doppler velocity instrument; alternately performing post-launch forward compass alignment and post-launch reverse compass alignment by using the data of the gyroscope and accelerometer, and performing velocity damping by using the velocity data of the Doppler velocity instrument; and finally, achieving required alignment precision, and ending the alignment process. According to the method, the underwater vehicle can perform precise alignment in the execution process of the maneuvering task after being launched, the launching preparation time of the underwater vehicle is shortened, and the maneuvering performance of the underwater vehicle is improved; and the stored data is repeatedly utilized, the data utilization rate is improved, and the fine alignment time is shortened.

Description

technical field [0001] The invention belongs to an initial alignment method of an underwater vehicle, and relates to a rapid initial alignment method during travel after a strapdown inertial navigation system of an underwater vehicle is launched, so as to achieve the goals of shortening launch preparation time and improving initial alignment accuracy. Background technique [0002] The primary condition for underwater vehicles to operate underwater is to obtain accurate navigation information. Since GPS information cannot be received underwater, the GPS commonly used by land and air vehicles cannot be used when underwater vehicles travel underwater. The magnetic compass can obtain attitude information according to the geomagnetic direction, but due to the complex underwater environment and the weak earth's magnetic field, its alignment accuracy and stability are poor. [0003] Compared with GPS and magnetic compass, the inertial navigation system has strong navigation and po...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 张福斌孙成浩潘光宋保维高剑张立川彭星光
Owner NORTHWESTERN POLYTECHNICAL UNIV
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