Navigating and steady aiming method of navigation / steady aiming integrated system

Abstract

The invention relates to a navigating and stabilized sighting method of a navigation / stabilized sight all-in-one system, belonging to the inertial guidance field. The navigating method realizes stance and positioning on a load by an inertial measuring unit which is arranged on an electro-optical stabilized sighting platform. The method comprises the steps as follows: collecting the signal of the inertial measuring unit; fast and accurately initial aligning below the stabilized sighting platform; an inertial navigation algorithm based on vehicle-bone stabilized sighting platform; resolving heading attitude and analyzing the error thereof; analyzing the error of an inertial guidance system and an inertial part, modeling and compensating; and inertial guidance / milemeter / GPS multi-information fault-tolerance combined navigation. The navigation method overcomes the defects in the prior art that stabilized sighting and the navigation system can not work simultaneously and the all-in-one system can not provide full navigation information, can provide real-time, accurate and complete navigation heading attitude information and navigation positioning information for carriers (like a chariot), and can improve the battlefield viability and the comprehensive hosting ability.

Description

technical field [0001] The invention relates to a navigation positioning and attitude fixing method applied to a chariot navigation / sight stabilization integrated system, and belongs to the field of inertial navigation. Background technique [0002] Line-of-sight stabilization system and inertial navigation system are two high-precision inertial systems widely used in ground combat vehicles such as tanks in recent years. The main component of the line-of-sight stabilization system is the photoelectric stabilization platform, through which the line-of-sight is stabilized to provide accurate shooting or guidance references for the chariot while it is moving, which enhances the maneuverability of the chariot; the inertial navigation system can provide timely information on carrier attitude, The speed and location guide the tank to covertly enter the battlefield and strike the target. Its autonomy is unmatched by other positioning and orientation systems. [0003] The main comp...

AI Technical Summary

Problems solved by technology

[0005] In view of the potential requirements of combat vehicle equipment in the future combat environment, there is a strong demand for the comprehensive application of information perception and fire control and stabilization. Among the equipped systems, the two systems of steady sight and navigation can only be used in time-sharing, that is, steady sight and navigation cannot work at the same time, and the accuracy is not high

In China, there are relevant technical researches on the integrated system of aiming / north seeking, but this system can only solve the heading of the vehicle body, and cannot provide all-round attitude information, speed, and position information, that is, it cannot perform complete navigation work

[0006] The inertial navigation system is generally initialized under a static base. During the initialization process, the accuracy and alignment speed of the attitude alignment, especially the heading misalignment angle, are difficult to meet the requirements; During the process of stabilizing the line of sight of the platform, the calculation mechanism is similar to that of the platform inertial navigation system. In the process of target tracking and manual turning of the platform, the measurement unit composed of inertial sensors rotates with the platform. During this process, the inertial The calculation mechanism of the navigation system is similar to that of strapdown inertial navigation. The current conventional platform inertial navigation and strapdown inertial navigation calculation mechanism are not suitable for the inertial navigation system on the vehicle-mounted stable pointing platform. The error analysis of the inertial navigation system and inertial devices, Modeling and compensation methods also need further improvement

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