Method for initial aiming of arbitrary double position of strapdown inertial navigation system

A strapdown inertial navigation and initial alignment technology, applied in navigation calculation tools, navigation through velocity/acceleration measurement, etc., can solve the problems of reduced dual-position alignment accuracy, low servo platform accuracy, and inconvenient engineering use. To achieve the effect of guaranteed accuracy

Inactive Publication Date: 2006-06-14
BEIHANG UNIV
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Problems solved by technology

However, the previous dual-position alignment method requires the SINS to rotate 180 degrees or 90 degrees around the Z axis, which requires the SINS to be installed on a servo platform, and the servo platform is used to ac

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  • Method for initial aiming of arbitrary double position of strapdown inertial navigation system
  • Method for initial aiming of arbitrary double position of strapdown inertial navigation system
  • Method for initial aiming of arbitrary double position of strapdown inertial navigation system

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Embodiment Construction

[0019] Such as figure 1 Shown, the concrete implementation method of the present invention is as follows:

[0020] 1. Preparation of strapdown inertial navigation system

[0021] After SINS is turned on, it enters the preparation state, and the preparation time varies according to different types of systems.

[0022] 2. Collect the initial position, that is, the first position data

[0023] After the SINS is ready, keep the SINS still at the initial position, that is, the first position, and collect the data output by the gyroscope and the accelerometer for 2 minutes. If the accuracy of the SINS is low, the data collection time can be extended appropriately.

[0024] 3. Calculate the pitch angle θ of the SINS at the first position 1 and roll angle γ 1 , the pitch and roll angles are defined as shown in Figure 2b and Figure 2c.

[0025] Use the relationship between the accelerometer output and the acceleration of gravity to calculate the pitch angle θ of the initial positi...

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Abstract

The invention relates to random two position aiming method of strapping inertial navigation system. It is the method used to confirm strapping inertial navigation system (SINS) initial appearance. Its features are rotated the SINS from the initial position to random, utilized the relation ship of the two position SINS output and rotational angular velocity of the earth and gravity acceleration to confirm SINS initial appearance and measure out gyroscope constant drift. The invention has high precision. And it is simple and practical, and can be applied in various strapping inertial navigation system.

Description

technical field [0001] The invention relates to a method for determining the initial attitude of a strapdown inertial navigation system SINS, which can be used for initial alignment of various medium and high precision strapdown inertial navigation systems. Background technique [0002] The strapdown inertial navigation system (SINS) is a completely autonomous navigation system. It uses the carrier angular velocity information measured by the gyro and the acceleration information measured by the accelerometer to perform integral calculations on the basis of the initial information, and can continuously and real-time provide position and velocity. And attitude information, has the advantages of good concealment, not limited by climatic conditions, so it is widely used in aviation, aerospace, navigation and other fields. According to the basic principle of SINS, SINS must obtain initial information before starting navigation and positioning, including initial position, velocit...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
Inventor 房建成刘百奇
Owner BEIHANG UNIV
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