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Nonlinear error model based on carrier systemquaternion attitude error

A non-linear error, quaternion technology, applied in the field of navigation

Pending Publication Date: 2021-12-10
NAVAL UNIV OF ENG PLA
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The nonlinear error models currently studied usually assume that the attitude error exists in the navigation coordinate system (n system), while the research on the model based on the attitude error of the carrier coordinate system (b system) is relatively rare

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  • Nonlinear error model based on carrier systemquaternion attitude error
  • Nonlinear error model based on carrier systemquaternion attitude error
  • Nonlinear error model based on carrier systemquaternion attitude error

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Embodiment Construction

[0020] In order to make the objects and advantages of the present invention clearer, the present invention will be further described below in conjunction with the examples; it should be understood that the specific examples described here are only for explaining the present invention, and are not intended to limit the present invention.

[0021] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present invention, and are not intended to limit the protection scope of the present invention.

[0022] refer to Figure 1 to Figure 5 As shown, the present invention relates to a nonlinear error model based on the attitude error of the carrier system quaternion. In order to describe the nonlinear model based on the carrier system quaternion proposed by the present invention, the attitude, position and ve...

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Abstract

The invention relates to a nonlinear error model based on a carrier system quaternion attitude error. The nonlinear error model comprises a nonlinear error model based on a multiplicative quaternion attitude error and an additive quaternion attitude error and derived by using three different methods, and the equivalence of the three methods is verified through experiments. then comparing is performed with a nonlinear error model based on a navigation system quaternion attitude error; Tthe advantages and disadvantages of the two models are compared through experiments;the defects of research on an integrated navigation model under the large misalignment condition in the existing literature are overcome;according to the model, high-precision nonlinear integrated navigation can be completed in a relatively short time under the condition of large misalignment; and the requirement of high-precision integrated navigation is met.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a nonlinear error model based on the attitude error of a carrier system quaternion. Background technique [0002] The strapdown inertial navigation system is a system that realizes high-precision navigation based on Newton's law of motion and dead reckoning. Its core sensors are two types of inertial sensors, gyroscopes and accelerometers. The inertial measurement unit composed of these two types of sensors is fixedly connected to the moving carrier, and is sensitive to the linear velocity and angular velocity information of the carrier. The strapdown inertial navigation system uses the sensor information of the inertial measurement unit, and under the given initial motion information, uses Newton's second law to integrally calculate and obtain the attitude, velocity and position of the carrier. Compared with other navigation systems, SINS has the advantages of strong autonom...

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Application Information

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IPC IPC(8): G01C21/18G01C21/20
CPCG01C21/18G01C21/20
Inventor 李开龙朱天高杨博牛浩李文魁常路宾胡柏青吕旭
Owner NAVAL UNIV OF ENG PLA