Airborne distributed POS transfer alignment measurement exception handling method

A transfer alignment and exception handling technology, applied in the field of navigation systems, can solve problems such as abnormal transfer alignment measurement of fiber grating sensors, reduction of transfer alignment accuracy, and transfer alignment anomalies

Pending Publication Date: 2021-07-30
BEIHANG UNIV
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Problems solved by technology

Since in the transfer alignment, the difference between the motion parameters of the sub-IMU and the main POS motion parameters corrected by the fiber grating sensor measurement value is used as the quantity measurement, the abnormal measurement of the fiber grating sens

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  • Airborne distributed POS transfer alignment measurement exception handling method
  • Airborne distributed POS transfer alignment measurement exception handling method
  • Airborne distributed POS transfer alignment measurement exception handling method

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Embodiment Construction

[0184] like figure 1 Shown, concrete method of the present invention implements as follows:

[0185] 1. The specific calculation steps of the relative position and relative attitude measurement error of the fiber grating sensor at the sub-IMU are:

[0186] The displacement and deflection output by the fiber grating sensor are also called relative position and relative attitude respectively.

[0187] (1) Calculate the relative position measurement error

[0188] Δx'=Δx-Δx jizhun , Δy'=Δy-Δy jizhun , Δz'=Δz-Δz jizhun (1)

[0189] Among them, Δx, Δy, and Δz are the components of the relative position measured by the fiber grating sensor at the sub-IMU on the x-axis, y-axis, and z-axis of the main POS carrier coordinate system; Δx′, Δy′, and Δz′ are Δx, Δy , Δz error, that is, the measurement error of the relative position of the fiber grating sensor; Δx jizhun , Δy jihzhun , Δz jizhun It is the reference data of the relative position on the x-axis, y-axis and z-axis of ...

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Abstract

The invention provides an airborne distributed POS transfer alignment measurement exception handling method. The method comprises the following steps: calculating the relative position and relative attitude measurement error of a fiber grating sensor at a sub IMU; establishing a polynomial function model of each order of relative position and relative attitude measurement errors; determining the coefficient of each model by adopting a least square method, calculating the fitting residual error of each model, and taking the model with the minimum fitting residual error as a final relative position measurement error model and a final relative attitude measurement error model; correcting the position and attitude measurement information of the main POS, determining the quantity measurement of transfer alignment of the sub-IMU, and establishing a mathematical model; and obtaining motion parameters with higher precision at the sub IMU by adopting Kalman filtering. According to the method, the measurement error model of the fiber grating sensor is established to correct the measurement information of the high-precision main POS, so that a more accurate measurement equation is established, the accuracy of the system measurement model is improved, and the transfer alignment precision is improved.

Description

technical field [0001] The invention relates to the field of navigation systems, in particular to a processing method for an abnormal measurement of an airborne distributed POS delivery alignment caused by an abnormal measurement of a fiber grating sensor. It can also be used to solve various strapdown inertial navigation systems that use fiber grating sensors to measure elastic deformation and determine position, velocity and attitude through transfer alignment technology. Background technique [0002] With the advancement of airborne earth observation technology, the airborne earth observation system has developed from the traditional observation of a single observation payload to the joint imaging of multiple or multi-type observation payloads. For a high-performance integrated aerial remote sensing system equipped with multiple or multiple observation loads, to achieve high-precision imaging, it is necessary to obtain high-precision motion parameters of each load placeme...

Claims

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Application Information

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IPC IPC(8): G01C23/00G01C21/16
CPCG01C23/005G01C21/16
Inventor 宫晓琳田珂珂孙一弘
Owner BEIHANG UNIV
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