Non-exchangeable error suppression method based on large dynamic environment

Abstract

The invention requests to protect a non-exchangeable error suppression method in a large dynamic environment, and mainly aims to solve the problems that an inertial sensor IMU (Inertial Measurement Unit) has a large error in the large dynamic environment, a traditional equivalent rotation vector algorithm cannot achieve improvement of algorithm precision by only relying on improvement of a subsample number, and a high-order term can generate a large error in the large dynamic environment. On the basis, an improved high-order iteration attitude optimization algorithm is researched. A gyroscope and an accelerometer are used as data sources, three subsamples are used as a sampling period of the gyroscope, an equivalent rotation vector algorithm is used for calculation and solution in the first period, three subsamples are also used as a sampling period in the next period, a high-order curve is used for fitting, and iteration with a result of the previous period is carried out to solve a high-order iterative solution. According to the method, non-exchangeable errors can be better inhibited, and the attitude calculation precision of the IMU in a large dynamic environment is improved. Compared with a traditional algorithm, the method has the advantage that the attitude calculation precision is improved by two orders of magnitude.

Description

technical field [0001] The invention belongs to the application field of inertial sensor technology, and particularly relates to a non-exchangeable error suppression algorithm in a large dynamic environment. Background technique [0002] In the attitude update algorithm of the inertial navigation system, the carrier in the large dynamic environment is constantly rotating at high speed, which has high requirements on the real-time performance of the attitude calculation algorithm. Because the rotation of the rigid body is not commutative, it can be seen that the rotation is not a vector, and it is meaningless to integrate and solve the angular velocity vector over a period of time. [0003] Bortz J and Jordon proposed to use the equivalent rotation vector method to compensate the non-commutative errors in large dynamic environments, so as to improve the accuracy of attitude calculation. Zhou Zhaofa and others proposed the three-sample quaternion method, set the sampling numb...

AI Technical Summary

Problems solved by technology

[0006] After searching, the application publication number CN112033437A, a strapdown inertial navigation system optimization method based on the equivalent rotation vector algorithm, this method is applied to fiber optic gyroscopes with high device precision. At present, miniaturized MEMS inertial gyroscopes have become the mainstream of the industry, but The accuracy of its device is lower than that of the fiber optic gyroscope, so it has higher requirements for the algorithm

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