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Rotation modulation and self-calibration integrated method for double-shaft rotation strapdown inertial navigation system

A technology of strapdown inertial navigation and rotation modulation, applied in the field of strapdown inertial navigation

Active Publication Date: 2021-09-14
NAT UNIV OF DEFENSE TECH
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  • Abstract
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  • Application Information

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Problems solved by technology

[0004] However, the existing rotation methods can only complete the task of error modulation and self-calibration alone

Method used

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  • Rotation modulation and self-calibration integrated method for double-shaft rotation strapdown inertial navigation system
  • Rotation modulation and self-calibration integrated method for double-shaft rotation strapdown inertial navigation system
  • Rotation modulation and self-calibration integrated method for double-shaft rotation strapdown inertial navigation system

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Embodiment Construction

[0142] In order to make the technical method and advantages of the present application clearer, the present invention will be further described below in conjunction with the accompanying drawings. The specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0143] figure 1 It is a schematic flow diagram of the implementation of the method of the present invention; the method of the present invention comprises the following steps:

[0144] S1: Design the rotation method to make the constant value drift vector The motion trajectory in the navigation coordinate system is closed, and the rotation angle of all sequences in this rotation method is 90°;

[0145] S2: Check whether the rotation method designed by S1 satisfies that the IMU rotates around its three sensitive axes x, y, and z. If not, return to S1 to redesign the rotation method so that the IMU rotates around its three sensitive axes x...

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Abstract

The invention relates to the technical field of strapdown inertial navigation, in particular to a rotation modulation and self-calibration integrated method for a double-shaft rotation strapdown inertial navigation system. The method comprises the following steps: firstly, a closed rotation method is designed for a motion track of a constant drift vector under a navigation coordinate system to obtain a 48-sequence integrated rotation method; and then self-calibration is carried out by adopting the rotation method to obtain IMU constant drift, scale factor error and installation error parameters, initial alignment is carried out to obtain initial position, speed and attitude information, and finally rotation modulation navigation is carried out. The rotation modulation method and the self-calibration rotation method are integrated, the rotation method does not need to be replaced in the whole navigation process, the complexity of actual operation is reduced, and compared with a 16-sequence rotation modulation method and a 18-position self-calibration method which are widely applied at present, the method is better in rotation modulation effect, more accurate in calibration result and smaller in navigation error.

Description

technical field [0001] The invention relates to the technical field of strapdown inertial navigation, in particular to an integrated method of rotation modulation and self-calibration of a two-axis rotation strapdown inertial navigation system, which is suitable for error compensation of a rotary strapdown inertial navigation system through rotation modulation and self-calibration occasions. Background technique [0002] At present, high-precision strapdown inertial navigation systems at home and abroad have widely used rotation modulation technology to offset the influence of inertial device errors on the navigation system. A reasonable rotation modulation method should not only avoid the introduction of cumulative navigation errors caused by the movement of the rotating mechanism, but also minimize the navigation errors caused by device errors such as constant value drift, scale factor errors, and installation errors. Compared with the single-axis rotation modulation meth...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 于旭东范会迎王子超谢元平罗晖
Owner NAT UNIV OF DEFENSE TECH
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