Strapdown inertial navigation system adopting strange perturbation method for taper cone error and rowing error compensation

Abstract

The invention discloses a strap-down inertial navigation system which compensates the coning error and the sculling error by adopting a method of singular perturbation. The strap-down inertial navigation system is characterized in that a singular perturbation model for compensating the coning error is embedded between an inertial measurement unit and an attitude calculation unit; and a singular perturbation model for compensating the sculling error is embedded between the inertial measurement unit and the navigation calculation unit. The compensation is a perturbation process in which the movement of a carrier changes in a sampling period T and utilizes the actual output value of an inertial unit at a starting sampling point to establish a forcing singular perturbation model. According to the forcing singular perturbation model, the coning error and the sculling error are compensated, and the clock diagram of attitude update and the amount of speed update in the sampling period are obtained. Through adjustment of the amounts of the attitude update and the speed update with close-to-precision variable parameters, the requirement for increasing the algorithmic precision of the calculation units of the strap-down inertial navigation system is met.

Description

Strapdown Inertial Navigation System Using Singular Perturbation Method to Compensate Coning Error and Rowing Error technical field The present invention relates to a method for compensating measurement accuracy of strapdown inertial navigation in a high dynamic environment (6-2000 Hz), more particularly, a method for compensating coning errors and rowing errors using a singular perturbation method Linked inertial navigation system. Background technique The strapdown inertial navigation system generally includes (1) inertial component; (2) signal processing unit of inertial component; (3) attitude calculation unit; (4) navigation calculation unit. The inertial component consists of three gyroscopes and three accelerometers. The inertial component and the signal processing unit of the inertial component are installed together in a hexagonal platform to form an inertial measurement unit. The purpose of being installed in the table body is to ensure that the three measureme...

AI Technical Summary

Problems solved by technology

Improving hardware performance can increase the response speed of the inertial system, but the impact on the accuracy of the inertial system is limited, and the cost is relatively high; and the new navigation algorithm has too many prerequisites, making it difficult to evaluate the performance of such algorithms in engineering practice

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