An integrated method for rotation modulation and self-calibration of dual-axis rotation strapdown inertial navigation system

A strapdown inertial navigation and rotation modulation technology, applied in the field of strapdown inertial navigation, to achieve accurate calibration results, reduce complexity, and excellent rotation modulation effects

Active Publication Date: 2022-02-25
NAT UNIV OF DEFENSE TECH
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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

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  • An integrated method for rotation modulation and self-calibration of dual-axis rotation strapdown inertial navigation system
  • An integrated method for rotation modulation and self-calibration of dual-axis rotation strapdown inertial navigation system
  • An integrated method for rotation modulation and self-calibration of dual-axis 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 an integrated rotation modulation and self-calibration method of a double-axis rotation strapdown inertial navigation system. The present invention first designs a method of closing and rotating the trajectory of the constant value drift vector in the navigation coordinate system, and obtains a 48-order integrated rotation method; then uses the rotation method to perform self-calibration to obtain the IMU constant value drift and scale factor Error and installation error parameters, initial alignment is performed to obtain initial position, velocity and attitude information, and finally rotation modulation navigation is performed. The invention realizes the integration of the rotation modulation method and the self-calibration rotation method, and the whole navigation process does not need to replace the rotation method, which reduces the complexity of the actual operation, and compared with the currently widely used 16-order rotation modulation method and 18-position self-calibration method , the rotation modulation effect of this method is better, the calibration result is more accurate, and the navigation error is smaller.

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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Patent Type & Authority Patents(China)
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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