Inertial navigation initial attitude resolving method based on solidification carrier coordinate system

A carrier coordinate system, initial attitude technology, applied in the direction of measuring devices, instruments, etc., can solve the problems of inability to know the precise geographical latitude, low rough alignment accuracy, etc., to reduce the number of chain multiplications, improve the level of alignment accuracy, The effect of eliminating alignment errors

CN113155150APending Publication Date: 2021-07-23中国人民解放军火箭军工程大学
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2021-07-23

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Abstract

The invention relates to an inertial navigation initial attitude resolving method based on a solidification carrier coordinate system, spatial circle fitting is performed on a projection point in a carrier coordinate system at an initial moment by projecting meter measurement data according to a motion law that a gravity vector rotates around an earth axis under a solidification carrier system and gyro output, the circle center vector of the space circle is the expression of the earth axis under the solidification load system, a geographic coordinate system of the corresponding moment is obtained according to the triangular relation among the earth axis, the gravity vector and the geographic north direction, and therefore a rotation matrix between a navigation coordinate system and a carrier coordinate system is obtained, and coarse alignment of the shaking base is achieved. Compared with the prior art, the method has the advantages that accurate latitude and longitude can be obtained without knowing an alignment point; through data fitting, the error influence caused by angle shaking is relieved by fully utilizing alignment data, and the alignment precision level is greatly improved; the chain multiplication times of an attitude matrix are reduced, description of gravity in a normal gravity field is not used in the algorithm, and alignment errors caused by disturbance of the gravity can be eliminated.
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Description

technical field

[0001] The invention belongs to the technical fields of geophysics, geodesy, and autonomous orientation, and relates to a method for calculating the initial attitude of inertial navigation based on a solidified carrier coordinate system. Background technique

[0002] The initial alignment is the process of determining the relative spatial orientation between the carrier coordinate system and the reference navigation coordinate system. For interstellar navigation), the accuracy of the initial alignment is directly related to the accuracy of subsequent navigation and positioning.

[0003] Traditional alignment methods include two-vector attitude determination, solidified coordinate system alignment, multi-vector alignment, etc. The idea is to observe different representations of different vectors in two coordinate systems to complete initial alignment. Vector selection usually includes a single The gravity vector at any time, the superposition integral of the ...

Examples

Embodiment

[0039] Step 1: Set the simulation time of the shaking base to 1min, the sampling rate to 10hz, the constant zero drift of the gyro to 0.01° / h, and the random walk coefficient to The constant offset of the acceleration is 5×10 -4 g, the random walk coefficient is The attitude angle change state is:

[0040]

[0041] According to the attitude angle change sequence, a set of inertial group simulation data is obtained.

[0042] Step 2: Utilize the gyroscope output value to update the attitude rotation matrix Add meter measurement value at b 0 projection within the department;

[0043] Step 3: In order to obtain a better fitting effect, a certain data extension is carried out on the projection vector, and points are taken at equal intervals during fitting, and finally the center of the fitting circle is [0.3575 0.3277 0.2846], which is unitized, That is, the fitting vector of the earth's axis under the solidification carrier. According to the triangular relationship bet...