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Rotating method of modulation type inertial navigation system with double-axis rotating continuously

An inertial navigation system and rotation modulation technology, applied in the field of inertial navigation, can solve problems such as the inability to guarantee the accuracy of the rotating shaft and the unsatisfactory modulation results, and achieve the effects of reducing complexity, reducing shock and vibration, and ensuring stability.

Inactive Publication Date: 2012-07-04
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0004] The rotation modulation scheme can be divided into single-axis, double-axis, three-axis, etc. according to the number of rotating shafts. Single-axis rotation can compensate the error drift of the inertial device on the plane perpendicular to the rotating shaft, but the accuracy in the direction of the rotating shaft cannot be guaranteed; dual-axis Rotation can compensate the drift of inertial devices in the three axes. At present, there are many methods for dual-axis rotation modulation, but the modulation results are not ideal. Therefore, research on the mechanism of dual-axis rotation modulation and error propagation mechanism is carried out to determine the optimal rotation modulation. It is very necessary to meet the needs of high-precision long-duration navigation

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  • Rotating method of modulation type inertial navigation system with double-axis rotating continuously
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  • Rotating method of modulation type inertial navigation system with double-axis rotating continuously

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Embodiment Construction

[0018] The present invention will be further described now in conjunction with accompanying drawing.

[0019] A rotation method of a two-axis continuous rotation modulation inertial navigation system, in this embodiment, according to figure 1 The rotation scheme shown performs one cycle of rotation. figure 1 The abcd in represents the rotation direction of the pitch axis, and 1234 represents the rotation direction of the azimuth axis.

[0020] In this rotation method, the azimuth axis ω of the inertial navigation system is preset z with the pitch axis ω x The rotation speed satisfies the condition ω z = 2ω x , based on this condition, the specific rotation steps of one cycle of the inertial navigation system are as follows:

[0021] Step 1: When rotating the first circle, rotate the inertial measurement unit around the azimuth axis and the pitch axis of the inertial navigation system at the same time from the starting position of 0°, stop when the azimuth axis reaches the...

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Abstract

The invention belongs to the field of inertial navigation, aiming to solve the optimization problem of a modulation method during double-axis rotating. The invention provides a rotating method of a modulation type inertial navigation system with double-axis rotating continuously. In the rotating method, the rotating speed of azimuth axis omegaz and pitch axis omegax is needed to preset to meet a condition of omegaz=2omegax. The periodical rotating method of the inertial navigation system based on the condition improves the precision of the inertial navigation system and ensures the stability of the carrier by modulating the error of inertial apparatuses in three sensitive axis (azimuth axis, pitch axis and horizontal axis) directions of the inertial navigation system.

Description

technical field [0001] The invention belongs to the field of inertial navigation, and relates to a rotation method of a rotation modulation type inertial navigation system, in particular to a rotation method of a two-axis continuous rotation modulation type inertial navigation system. Background technique [0002] To meet the demand for long-duration high-precision navigation, the key is to improve the accuracy of the inertial device. However, studies have shown that more than 90% of the accuracy of the inertial system depends on the accuracy of the inertial device. The demand for long-duration high-precision navigation can generally be achieved from two aspects: the development of high-precision inertial devices or the use of system compensation technology to suppress the influence of various error factors. For the former aspect, the currently used electrostatic gyro navigation and monitoring equipment is the inertial navigation system with the highest precision, but its co...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
Inventor 付梦印邓志红王博汪顺亭周元
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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