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Polar region inertial navigation phase modulation damping method and system under virtual sphere model

A phase modulation, inertial navigation technology, applied in navigation, mapping and navigation, navigation calculation tools, etc., to reduce the effect of Shura oscillation

Active Publication Date: 2022-02-01
SUZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] For this reason, the technical problem to be solved by the present invention is to overcome errors such as Shula oscillations in the polar region navigation using a virtual spherical model in the prior art, so that the inertial navigation As a result, the problem of oscillation phenomenon

Method used

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  • Polar region inertial navigation phase modulation damping method and system under virtual sphere model
  • Polar region inertial navigation phase modulation damping method and system under virtual sphere model
  • Polar region inertial navigation phase modulation damping method and system under virtual sphere model

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Embodiment 1

[0057] refer to figure 1 As shown, this embodiment provides a phase modulation damping method for inertial navigation in the polar region under the virtual spherical model, including the following steps:

[0058] Step S1: collect the real-time data of the inertial sensor, and obtain the attitude of the lateral navigation system according to the real-time data;

[0059] From the inertial sensor measurement model, it can be known that:

[0060]

[0061] In the formula, Indicates the accelerometer measurement value; f b Indicates that the accelerometer measures the real specific force; Indicates the zero bias of the accelerometer; ω a Indicates the accelerometer random noise; Indicates the measured value of the gyroscope; ω b Indicates the true angular velocity; ε b Indicates the zero bias of the gyroscope; w g Indicates the gyroscope measurement noise.

[0062] Specifically, in step S1, the gyroscope measures the constant drift as ε b =[0.02 0.02 0.02] To / h, T ...

Embodiment 2

[0099] Based on the same inventive concept, this embodiment provides a phase modulation and damping system for inertial navigation in the polar region under the virtual spherical model. No longer.

[0100] This embodiment provides a phase modulation damping system for inertial navigation in the polar region under the virtual spherical model, including:

[0101] The data collection module is used to collect the real-time data of the inertial sensor, and obtains the posture of the lateral navigation system according to the real-time data;

[0102] The speed acquisition module is used to update the speed of the lateral navigation system according to the real-time data and the attitude of the lateral navigation system and to expand the speed of the lateral navigation system by using the virtual sphere model to obtain the speed of the lateral navigation system under the virtual sphere model;

[0103] The first position acquisition module of the carrier is used to obtain the first ...

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Abstract

The invention relates to a polar region inertial navigation phase modulation damping method and system under a virtual sphere model. The method comprises the following steps: acquiring real-time data acquired by an inertial sensor; updating the speed of the transverse navigation system and expanding by using the virtual sphere model to obtain the speed of the transverse navigation system under the virtual sphere model and the position of a carrier under the transverse navigation system; obtaining the attitude of the transverse navigation system after phase modulation, the speed of the transverse navigation system after phase modulation, the speed after phase modulation and the position of a carrier under the transverse navigation system after phase modulation; and calculating an inertial navigation output attitude, an inertial navigation output speed and an inertial navigation output carrier position, and performing navigation. According to the method, on the basis of polar region inertial navigation under the virtual sphere model, phase modulation is performed on an inertial navigation result by using a damping coefficient, and dual loops are fused, so that Schelan oscillation of inertial navigation is reduced.

Description

technical field [0001] The invention relates to the technical field of polar region inertial navigation, in particular to a method and system for phase modulation and damping of polar region inertial navigation under a virtual spherical model. Background technique [0002] The current polar inertial navigation algorithms mostly use the horizontal coordinate system or the grid coordinate system to solve the singular problem of solving the polar region of the navigation coordinate system. Due to the ellipsoidal characteristics of the earth, both the horizontal coordinate system and the grid coordinate system will produce principle errors in the calculation process. For this reason, it is necessary to design the polar inertial navigation algorithm under the ellipsoid model, which also brings the disadvantage of high computational complexity. Compared with the transverse ellipsoid model and the grid ellipsoid model, the virtual sphere model makes better use of the characteristi...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/188G01C21/20Y02T90/00
Inventor 徐祥李凤陈洋豪
Owner SUZHOU UNIV