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High-precision initial alignment method of ship strapdown inertial navigation system

An initial alignment and strapdown inertial navigation technology, applied in the field of inertial navigation, can solve problems such as slow alignment time, inability to play inertial device performance, and inability to achieve optimal alignment performance, and achieve the effect of improving alignment accuracy

Active Publication Date: 2022-04-26
HUAZHONG PHOTOELECTRIC TECH INST (CHINA SHIPBUILDING IND CORP THE NO 717 INST)
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Aiming at the technical problems existing in the prior art, the present invention provides a high-precision initial alignment method for ship strapdown inertial navigation system, which can solve the problem of the existing traditional Kalman filter fine alignment algorithm, which requires slow alignment time and requires The optimal alignment performance cannot be achieved within the alignment time, and the real performance of the inertial device cannot be exerted

Method used

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  • High-precision initial alignment method of ship strapdown inertial navigation system
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  • High-precision initial alignment method of ship strapdown inertial navigation system

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Embodiment 1

[0010] A high-precision initial alignment method for ship strapdown inertial navigation system, see figure 1 , the method includes: based on the error propagation law of the ship SINS and the precise position and speed reference provided by the external high-precision positioning equipment, the initial alignment model of the ship SINS is established; based on the Kalman The filtering method estimates the initial alignment model, wherein, by adjusting the dimension of the system state covariance matrix, optimizing the system state covariance matrix, a part of the error amount of the initial alignment model is preferentially iteratively estimated; On the basis of prioritizing the estimation of a part of the error amount, iteratively estimate the remaining error amount of the initial alignment model; wherein, in the process of iterative estimation, the system state covariance is optimized by adjusting the size of the system state covariance matrix matrix.

[0011] Among them, th...

Embodiment 2

[0014] A high-precision initial alignment method for a ship's strapdown inertial navigation system, the method mainly includes the following steps:

[0015] S1. Based on the propagation law of various error quantities of the ship SINS and the precise position and velocity reference provided by the external high-precision positioning equipment, the initial alignment model of the ship SINS is established.

[0016] Specifically, the establishment of the initial alignment model according to the inertial navigation error propagation law and the technical state of the inertial navigation equipment itself can be expressed as:

[0017]

[0018] in, is the east, north, azimuth and attitude angle error, δV E , δV N , δV U is the eastward, northward and skyward speed error, δL and δλ are latitude and longitude errors, ε x , ε y , ε z is the gyro drift, is the accelerometer zero bias, and

[0019] Its state equation can be expressed as:

[0020]

[0021] Wherein, the ob...

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Abstract

The invention provides a high-precision initial alignment method of a ship strapdown inertial navigation system. The high-precision initial alignment method comprises the following steps: establishing an initial alignment model of the ship strapdown inertial navigation system; estimating the initial alignment model based on a Kalman filtering method, and performing priority iteration estimation on a part of error amount of the initial alignment model by adjusting the dimension of a system state covariance matrix; on the basis of preferentially estimating a part of error amounts, carrying out iterative estimation on the rest error amounts of the initial alignment model; wherein in the iterative estimation process, the system state covariance matrix is optimized by adjusting the size of the system state covariance matrix. According to the method, dimension reduction of the state error amount and continuous excitation of the slow-convergence state error amount are achieved by adjusting the state covariance matrix, high-precision estimation of the state error amount, especially high-precision estimation of errors of an inertial device, is achieved, and the alignment precision of the system is improved to the maximum extent.

Description

technical field [0001] The invention relates to the field of inertial navigation, and more specifically, to a high-precision initial alignment method for a strapdown inertial navigation system of a ship. Background technique [0002] Initial alignment is critical for ship SINS, which provides initial heading and attitude for ship navigation. Alignment accuracy and alignment time are two important indicators for the initial alignment of the inertial navigation system, and the accuracy of the initial alignment directly affects the long-duration accuracy performance of the inertial navigation system. Therefore, within the specified alignment time, improving the initial alignment accuracy of the inertial navigation system is an important part of designing a high-precision navigation system. Contents of the invention [0003] Aiming at the technical problems existing in the prior art, the present invention provides a high-precision initial alignment method for ship strapdown i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C25/00
CPCG01C21/16G01C25/005Y02T90/00
Inventor 李云飞刘兵许琪华师慧娜
Owner HUAZHONG PHOTOELECTRIC TECH INST (CHINA SHIPBUILDING IND CORP THE NO 717 INST)