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SINS error inhibiting method based on biaxial rotation scheme

A strapdown inertial navigation and system error technology, applied in the field of measurement, can solve problems such as navigation errors of strapdown inertial navigation systems

Inactive Publication Date: 2012-11-28
LIAONING TECHNICAL UNIVERSITY
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  • Claims
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AI Technical Summary

Problems solved by technology

However, the zero bias of the optical gyro is the main factor causing the navigation error of the strapdown inertial navigation system. The conventional strapdown system scheme has not yet met the long-term high-precision navigation requirements of the ship's inertial navigation system.

Method used

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  • SINS error inhibiting method based on biaxial rotation scheme
  • SINS error inhibiting method based on biaxial rotation scheme
  • SINS error inhibiting method based on biaxial rotation scheme

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Embodiment Construction

[0044] The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing:

[0045] (1) Use the Global Positioning System (GPS) to determine the initial position parameters of the carrier, and bind them to the navigation computer;

[0046] (2) After the strapdown inertial navigation system is warmed up, the data output by the fiber optic gyroscope and the quartz accelerometer are collected and processed;

[0047] (3) According to the relationship between the output of the accelerometer and the acceleration of gravity and the relationship between the output of the gyroscope and the angular rate of the earth's rotation, the initial determination of the IMU attitude information (pitch angle θ, roll angle γ and heading angle ψ) at this time is initially determined. Alignment, establishing the initial strapdown matrix of the inertial navigation system

[0048] C s n =...

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Abstract

The invention provides an SINS (Strapdown Inertial Navigation System) error inhibiting method based on a biaxial rotation scheme. A global positioning system (GPS) is used for determining the parameters of the initial position of a carrier, and the parameters are input into a navigation computer; after preheating preparation, an SINS collects the data output by a fiber optic gyroscope and a quartz accelerometer and processes the data; primarily determining the attitude information of an inertial measurement unit (IMU) at the time according to the relationship between the output of the accelerometer and acceleration of gravity and the relationship between the output of the gyroscope and the rotational angular velocity of the earth so as to complete the initial alignment of the system; the IMU continuously rotates around the azimuth axis and the pitch axis; and the data generated by the fiber optic gyroscope and the quartz accelerometer after the rotation of the IMU is converted under a navigation coordinate system to get the modulation manner with deviated constants of inertia instruments. According to the invention, the SINS error inhibiting method based on a biaxial rotation scheme can be used for modulating the drift of the gyroscope in three directions and the zero offset of the accelerometer in the horizontal direction so as to improve the positioning precision of navigation.

Description

(1) Technical field [0001] The invention relates to a measurement method, in particular to a strapdown inertial navigation system error suppression method based on a biaxial rotation scheme. (2) Background technology [0002] The strapdown inertial navigation system does not rely on external information, does not radiate energy to the outside world, and is not easily damaged by interference. It is an autonomous navigation system. There are two main differences between the strapdown inertial navigation system and the platform inertial navigation system: ① The inertial platform is omitted, and the gyroscope and accelerometer are directly installed on the aircraft, making the system small in size, light in weight, low in cost and easy to maintain . However, gyroscopes and accelerometers are directly subjected to the vibration, shock and angular motion of the aircraft, which will generate additional dynamic errors. This has higher requirements for gyroscopes and accelerometers...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C21/16
Inventor 孙伟徐爱功高扬杨琳
Owner LIAONING TECHNICAL UNIVERSITY
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