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High-precision rapid transposition method suitable for four-axis inertial platform system

A high-precision, axis-inertial technology, applied in directions such as navigation through velocity/acceleration measurement, to achieve the effect of shortening launch preparation time, high precision, and shortening indexing time

Active Publication Date: 2022-03-25
BEIJING INST OF AEROSPACE CONTROL DEVICES
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, it is necessary to study a new method for high-precision indexing of the platform to solve the problem of rapidity and accuracy of the four-axis three-frame platform from the limit position to the target position

Method used

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  • High-precision rapid transposition method suitable for four-axis inertial platform system
  • High-precision rapid transposition method suitable for four-axis inertial platform system
  • High-precision rapid transposition method suitable for four-axis inertial platform system

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Embodiment 1

[0090] In this embodiment, the high-precision and fast indexing method applicable to the four-axis inertial platform system is as follows:

[0091] a. First input the expected target position (follower axis, outer ring axis, platform axis) frame angle value. In this example the expected value of the frame angle θ FDy’ , θ FDx , θ FDz are (210,0,0) respectively.

[0092] b. The control software collects the real-time position θ of the current frame angle once every control cycle Fi , according to θ Fi with frame angle expectation θ FDi Use formulas (1) and (2) to calculate the frame angle deviation value Δθ Fi .

[0093] The position θ of the current frame angle collected in this example Fy’ , θ Fx , θ Fz (follower axis, outer ring axis, platform axis) is (20,310,110), then:

[0094]

[0095] Considering the requirements of negative feedback control comprehensively, there is a frame angle deviation:

[0096]

[0097] c. In this embodiment, the follow-up ring w...

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Abstract

The invention discloses a high-precision rapid transposition method suitable for a four-axis inertial platform system, which comprises the following steps of: firstly, calculating the projection of frame angle deviation on a platform body coordinate system according to the corresponding relation between a frame shaft system of a four-axis three-frame platform and the platform body coordinate system, and then distributing rough moment adding open-loop control of moment adding quantity according to the angle difference of each shaft; the angle of the frame is quickly rotated from any position to a target position, meanwhile, the influence of three-axis cross-linking is reduced, and finally coarse moment-increasing closed-loop control and fine moment-increasing closed-loop control are performed near a target, so that the frame is stabilized at the target position. According to the method for rapidly rotating the three axes to the target position at the same time and keeping high precision, the phenomenon of platform cross-linking can be eliminated, and then the purpose of rapidly launching the inertial navigation system is achieved.

Description

technical field [0001] The invention belongs to the technical field of rapid indexing of inertial navigation systems, and relates to a method for rapid indexing of an aircraft of a related four-axis inertial platform system. Background technique [0002] The inertial platform provides inertial information for the aircraft and is an important component of the inertial navigation system. The time and accuracy of its initial alignment directly affect the preparation time and final accuracy of the aircraft. Shortening the alignment time and having stable and high-precision alignment is an effective way to improve the launch maneuverability of the aircraft, and is of great significance to the maneuverability of the aircraft. [0003] At present, the launch preparation time of the platform inertial navigation system is related to the time when the platform turns to the target position. For the four-axis three-frame platform, the multi-projection relationship of the ring frame is c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/18
CPCG01C21/18Y02T90/00
Inventor 魏燕红姜海峰刘越张艳霞张金云周元王二伟徐峰涛
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES
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