Inertial navigation system and all-attitude navigation resolving method and device thereof

Abstract

The invention discloses an inertial navigation system and an all-attitude navigation resolving method and device thereof. The method comprises the following steps of initially aligning, and calculating an initial attitude conversion matrix; updating the speed, the position and the attitude of the carrier to obtain an updated attitude conversion matrix; when the absolute values of the elements in the third row and the second column in the updated attitude conversion matrix are greater than a set threshold value, calculating the pitch angle, the rolling angle and the azimuth angle by adopting all-attitude navigation, and when the absolute values of the elements in the third row and the second column in the updated attitude conversion matrix are smaller than or equal to the set threshold value, calculating the pitch angle, the rolling angle and the azimuth angle by adopting conventional navigation; the attitude angle, the movement speed and the movement displacement of the carrier under all attitudes are calculated through the increment of the triaxial accelerometer and the increment of the gyroscope, the azimuth angle when the absolute value of the pitch angle is larger than 89.2 degrees can be tracked, and a problem that the azimuth angle attitude calculation is inaccurate when the absolute value of the pitch angle is larger than 89.2 degrees is solved.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and in particular relates to an inertial navigation system and its full-attitude navigation solution method and device. Background technique [0002] During the inertial navigation attitude calculation process, when the pitch angle is close to ±90° (for example, the absolute value of the pitch angle is greater than 89.2°), the calculation of the azimuth angle and roll angle will be coupled, resulting in the azimuth angle and roll angle calculated directly Does not match the actual situation. Although the speed and displacement navigation results are normal at this time, in some systems that need to monitor the navigation attitude, the attitude warning system will cause false alarms because the calculated azimuth and roll angle are not in line with reality. Contents of the invention [0003] The purpose of the present invention is to provide an inertial navigation system and its ful...

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Problems solved by technology

[0003] The purpose of the present invention is to provide an inertial navigation system and its full-attitude navigation calculation method and device to solve the problem that the azimuth and roll angle calculated directly due to coupling do not match the actual situation when the pitch angle is close to ±90° question

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