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Method for estimating and compensating lever arm effect in case of shaken base by strapdown inertial navigation system

A strapdown inertial navigation and lever-arm effect technology, applied in the field of inertial navigation systems

Active Publication Date: 2012-08-01
SOUTHEAST UNIV
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Problems solved by technology

The invention mainly solves the problem of how to estimate the lever-arm effect and how to compensate its influence during the alignment and navigation phase under the condition of a shaking base

Method used

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  • Method for estimating and compensating lever arm effect in case of shaken base by strapdown inertial navigation system
  • Method for estimating and compensating lever arm effect in case of shaken base by strapdown inertial navigation system
  • Method for estimating and compensating lever arm effect in case of shaken base by strapdown inertial navigation system

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Embodiment Construction

[0056] The implementation process of the present invention is described in detail below, and the flow process is as follows figure 1 shown.

[0057] First define the coordinate system. Define the "Northeast Sky" coordinate system as the navigation coordinate system, denoted as n system; the carrier coordinate system b takes the center of gravity of the carrier as the origin, the X axis points to the right along the horizontal axis, the Y axis points forward along the vertical axis, and the Z axis points vertically to the carrier ;Earth coordinate system e system, the origin of the coordinate system is at the center of the earth, the X-axis is on the equatorial plane, pointing to the prime meridian, the Y-axis is perpendicular to the X-axis, and is also in the equatorial plane, and the Z-axis is determined by the right-hand rule, pointing to the earth's rotation axis direction. The geocentric inertial coordinate system i system, which coincides with the earth coordinate syste...

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Abstract

The invention provides a method for estimating and compensating a lever arm effect in the case of a shaken base by a strapdown inertial navigation system, which is used for estimating the influence of the lever arm effect to the system and compensating according to a certain strategy, so that the precision of fine alignment and navigation calculation can be improved. The method comprises the following steps of: firstly, on the basis of coarse alignment, dividing a fine alignment process into two stages, wherein at a first stage: running a parameter identification method fine alignment algorithm of lever arm speed real-time compensating and spreading variable quantity, to estimate the residual interference speed except the lever arm speed in the system, and at a second stage: carrying out primary compensation on the residual interference speed; continuously running the parameter identification method fine alignment algorithm of the lever arm speed real-time compensating and spreading variable quantity, to estimate the misalignment angle information; and further modifying a coarse alignment result by the estimated misalignment angle, and confirming an initial pose matrix, so that the fine alignment can be completed. In the stage of navigation calculation, the lever arm speed is compensated in real time, a strapdown calculating program is operated, and a navigation result is provided.

Description

technical field [0001] The invention belongs to the technical field of strapdown inertial navigation, relates to an inertial navigation system, and relates to a method for estimating and compensating speed errors caused by lever-arm effects in fine alignment and navigation stages under the condition of a shaking base of the strapdown inertial navigation system. Background technique [0002] Inertial technology is one of the technical fields developed by the world's industrial powers. The inertial navigation system (INS, referred to as inertial navigation) is a system that uses inertial technology to realize the autonomous navigation of the carrier. The strapdown inertial navigation has no physical platform, and the shaking of the carrier Interference is added directly to the gyroscope and accelerometer. Initial alignment is one of the key technologies of strapdown inertial navigation system. It provides the initial value of the solution for the navigation system and has a gr...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/16
Inventor 程向红李伟
Owner SOUTHEAST UNIV
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