6 results about "Inertial systems" patented technology

A kind of compound inertial system attitude simulation test method, compound inertial system obtains launch system initial attitude angle by initial alignment mode;In dynamic loading process, the inertial data of compound inertial system is collected, and the angle signal of attitude simulation platform excitation is synchronously acquired;The attitude of compound inertial system is converted from launch system to local horizontal coordinate system by navigation solution method, while the angle signal of attitude simulation test platform is converted to the attitude angle of local horizontal coordinate system, and relevant operation is carried out, to obtain the dynamic performance parameter of compound inertial system.

This invention discloses a method for solving the 5-parameter coordinate transformation matrix of inertial navigation. The method includes: determining five parameters in two rows of the coordinate transformation matrix as variables for real-time updates; and using an integral formula to perform integral update calculations on the 5-parameter differential equation to obtain the five parameters at time t. k The time value is calculated; five parameters are orthogonalized and normalized; the remaining three parameters of the coordinate transformation matrix are calculated, and the updated coordinate transformation matrix is ​​obtained, supporting velocity and position updates to improve the accuracy of inertial navigation. This invention uses the angular rate output by the gyroscope orthogonally mounted on the strapdown inertial system as input information to achieve real-time updating of the inertial navigation coordinate transformation matrix, simplifying the computation while ensuring solution accuracy.

This invention relates to the field of navigation and positioning technology, and discloses an unmanned inspection autonomous navigation, positioning, and orientation calibration method, comprising: acquiring acceleration information and extracting gravity vectors from it to establish a horizontal reference plane; collecting three-dimensional point cloud data of the environment and dividing it into time-series data segments according to the sampling time; performing pose compensation on the ranging point based on angular rate data and mapping it to a time reference coordinate system; orthogonally projecting the compensated ranging point onto the horizontal reference plane to generate a two-dimensional projection distribution map; extracting the principal axis direction of the structure and performing geometric alignment with the orthogonal constraint rules of the building, and using angular deviation to correct heading drift. This invention uses gravity vectors to establish an absolute physical horizontal reference, transforming orientation measurement into orientation based on physical vectors. Combined with the orthogonal constraint mechanism inherent in industrial scenarios, it can effectively eliminate coupling errors introduced by attitude fluctuations and solve the problem of heading cumulative drift under long-period operation of inertial systems.

A self-calibration method for frame non-orthogonality error and accelerometer error in a dual-axis frame inertial system is proposed. Under static base conditions, the platform is locked at 10 frame angular positions, accelerometer measurements are collected, and the specific force measurement of the inertial system in the platform coordinate system at each locked position is calculated. The attitude matrix of the inertial system from the platform coordinate system to the local horizontal coordinate system at each locked position is also calculated, yielding the acceleration of the inertial system in the local horizontal coordinate system at each locked position, which is used as the error observation. The residuals of the error coefficients are calculated using a total least squares algorithm, and the estimated values ​​of the measured parameters are corrected. Iterative calculations are performed until the iterative convergence criterion is met, obtaining the self-calibration results for each error coefficient. Through the self-calibration and compensation of the error coefficients, the accuracy of attitude measurement of the dual-axis frame inertial system carrier or base affected by the non-orthogonality error of the axis system can be improved.

The application relates to a method for setting a proportional-integral controller with a filter, wherein the method comprises: using a response curve method to identify parameters of a transfer function of a controlled object to obtain an identification result, and obtaining a transfer function of the controlled object and a proportional-integral controller with a first-order filter based on the identification result; using a delay time and an inertia time constant to calculate a type parameter, dividing the proportional-integral control system into multiple types of time delay systems based on the type parameter, matching a corresponding transfer function based on the type of the time delay system, and setting controller parameters of the transfer function. The embodiments of the application can be applied to a first-order inertia system with a lag link and a high-order system that can be simplified into the system, aiming to improve the control performance of the controller on the time delay system through accurate parameter setting, suppress high-frequency oscillation, reduce energy loss, and guarantee the stability and economy of the control system.

The application discloses an inertial system performance evaluation method based on a data reliability confidence rule base, which decomposes the inertial system evaluation problem into BRB-CDR modeling and evaluation real-time according to the characteristics of the inertial system itself, for the BRB-CDR modeling, the application adopts a statistical interval-based observation data reliability calculation method, constructs a BRB model considering data reliability, and analyzes the sensitivity of the BRB-CDR model output to the data reliability. In view of the real-time evaluation requirement, a time window size adaptive change strategy is designed, which takes into account the model training accuracy and training real-time. The experimental results show that the BRB-CDR model evaluation utility RMSE is reduced by 47.40% compared with the standard BRB model, by 52.27% compared with the BP neural network, and by 60.03% compared with the fuzzy reasoning system. Thus, the high precision and feasibility of the BRB-CDR model in the inertial system performance evaluation are verified.