Method for determining initial status of strapdown inertial navigation system
A strapdown inertial navigation and initial attitude technology, which is applied in directions such as navigation through velocity/acceleration measurement, which can solve the problems of slow convergence speed, inability to perform good estimation, and high accuracy requirements of the indexing mechanism, and improve the filtering effect. , the effect of improved observability
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[0046] Such as figure 1 As shown, the specific implementation method of the present invention is as follows:
[0047] 1. Preparation of strapdown inertial navigation system
[0048] After SINS is powered on, it enters the ready state.
[0049] 2. First position data collection
[0050] After the SINS is ready, keep the SINS at its initial position (called the first position) and collect the gyroscope output and accelerometer output for 5 minutes. If the accuracy of the SINS is low, the data collection time can be appropriately extended.
[0051] 3. The first position posture calculation
[0052] The navigation coordinate system is taken as the northeast sky geographic coordinate system, and the heading angle at the first position is 1 , Pitch angle θ 1 And roll angle γ 1 Is defined as Figure 2a , Figure 2b and Figure 2c as shown.
[0053] The output of the accelerometer and the acceleration of gravity and the output of the gyroscope are related to the angular rate of the earth'...
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