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Inertial navigation error modulation method based on body diagonal rotation

A body diagonal and error technology, which is applied in the field of inertial navigation error modulation based on body diagonal rotation, can solve the problem that the rotation axis error cannot be eliminated, and achieve the improvement of navigation accuracy, the reduction of oscillation amplitude, and the reduction of attitude error and the effect of speed accumulation error

Pending Publication Date: 2021-10-01
NAVAL UNIV OF ENG PLA
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Problems solved by technology

Traditional rotation solutions such as this invention patent can only eliminate two axial errors perpendicular to the rotation axis, and the error on the rotation axis cannot be eliminated

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  • Inertial navigation error modulation method based on body diagonal rotation
  • Inertial navigation error modulation method based on body diagonal rotation
  • Inertial navigation error modulation method based on body diagonal rotation

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Embodiment Construction

[0080] Below in conjunction with accompanying drawing and specific embodiment the present invention will be described in further detail:

[0081] An inertial navigation error modulation method based on body diagonal rotation, which includes the following steps:

[0082] Step S11: Combining figure 2 , image 3 As shown, define the installation coordinate system and set it as the m system. Three groups of gyroscopes-accelerometers (that is, each group includes a gyroscope and an accelerometer) are placed perpendicular to each other to form an inertial measurement unit. The three groups of gyroscopes-accelerometers are respectively Install the X-axis, Y-axis and Z-axis of the coordinate system;

[0083] Determine the carrier coordinate system where the inertial measurement unit of the dual-axis rotary inertial navigation system is located, and set it as the b system; according to the direction in which the dual-axis rotary inertial navigation system is installed on the carrier...

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Abstract

The invention discloses an inertial navigation error modulation method based on body diagonal rotation. The method comprises the following steps: determining a mounting coordinate system, a carrier coordinate system, a rotating coordinate system and a rotating shaft, defining a constant error, a scale coefficient error, a mounting error, a rotating angular speed, stop position times and a rotating angular speed of a gyroscope and an accelerometer; sequentially determining the rotating shaft, a rotating direction, a rotating angle and stop time under a complete period rotating order; and determining the attitude error in one rotation period, the speed error in one rotation period and the longitude and latitude error in long endurance. Through a method of separating a mounting coordinate system from a carrier coordinate system, based on body diagonal rotation, the limitation of a traditional rotation scheme is broken through, and three axial errors can be eliminated, so that the error of the inertial navigation system is reduced to be smaller, and the attitude error and the speed accumulation error of the system in one rotation period are effectively reduced. Therefore, the oscillation amplitude of the latitude error and the longitude error related to the method is obviously reduced.

Description

[0001] The invention relates to the technical field of inertial navigation, in particular to an inertial navigation error modulation method based on body diagonal rotation. [0002] technical background [0003] The inertial navigation system ("inertial navigation system") is an important autonomous, concealed It is widely used in the fields of aviation, spaceflight and navigation navigation. Because the system has an integral link in the navigation calculation, the inertial navigation system error accumulates with time under the action of the error source. The rotary inertial navigation system is to reduce the system error by adding a rotating mechanism to the system inertial measurement unit and driving the unit to rotate periodically around the carrier to modulate the constant value error source and slowly changing error source of the system. Currently, rotary inertial navigation systems can be divided into single-axis and dual-axis rotary inertial navigation systems accord...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 查峰位秋硕傅军何泓洋李豹
Owner NAVAL UNIV OF ENG PLA
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