A Fast Initial Alignment Method for Vehicular Inertial Navigation Based on Active Disturbance Rejection Control

A technology of active disturbance rejection control and initial alignment, applied in the directions of navigation, measurement devices, instruments, etc. through velocity/acceleration measurement, which can solve the problems of weak system robustness, slow convergence speed, and low control accuracy.

CN105806365BInactive Publication Date: 2019-06-07BEIHANG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2019-06-07
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a method for conducting rapid initial alignment on vehicle load inertial navigation motion based on auto-disturbance-rejection control.The method is characterized by comprising the following steps that 1, before a vehicle is started, inertial navigation is initialized, and coarse alignment under the condition of an inertial navigation static base is completed; 2, after the vehicle is started, the observation quantity is constructed through inertial navigation and velocity information output by a mileometer; 3, a motion fine alignment loop is designed through the observation quantity, an inertial navigation error equation and an auto-disturbance-rejection control method; 4, parameters of an auto-disturbance-rejection controller are adjusted and finalized; 5, a feedback matrix is constructed through the misalignment angle output by an observer, so that initial alignment of vehicle load inertial navigation motion is achieved.By means of the steps, the coarse alignment method, observation quantity construction, the design method of the auto-disturbance-rejection control loop and the like adopted before the loaded vehicle is started are described in details; by means of the method, statistics characteristics of noise do not need to be known in advance, a quite precise model is not needed either, and the rapid inertial navigation alignment problem under the vehicle load environment and the problem of compensation under the external disturbance in the vehicle load process of inertial navigation can be solved.
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Description

1. Technical field

[0001] The invention relates to a vehicle-mounted inertial navigation rapid initial alignment method based on active disturbance rejection control, and belongs to the technical field of vehicle-mounted inertial navigation initial alignment. 2. Background technology

[0002] At present, the inertial navigation system has a very wide range of applications in the fields of aviation, spaceflight, navigation and land navigation. Especially in the military field, the inertial navigation system plays a huge role. Vehicle-mounted weapons are an important part of land weapon systems. Modern vehicle-mounted weapons are generally equipped with high-precision inertial navigation equipment, which is used to guide the weapon system and provide navigation information. The inertial navigation system must complete the initial alignment before entering the navigation. The initial alignment provides the basis for the subsequent inertial measurement. The accuracy of the ini...

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Embodiment Construction

[0106] The present invention will be further described in detail below with reference to the accompanying drawings.

[0107] The present invention proposes a fast initial alignment method between vehicle inertial navigation based on active disturbance rejection control. Select the geographic coordinate system as the navigation system, and specify the three-axis pointing as "East-North-Sky", and the body coordinate system as "Right-Front-Up". First, the geographic position (λ, L) of the vehicle-loaded parking place is used as the initial position under the condition of the vehicle-loaded static base, and the initial speed is set to zero. Using the output of the inertial measurement element under the condition of static base, the inertial navigation is analyzed and roughly aligned, and the transformation matrix from the machine system to the platform system is obtained. After another correction of rough alignment, the transformation matrix from the platform system to the real ...