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Method for restraining attitude errors of modulation type strapdown inertial navigation system

A strapdown inertial navigation and error suppression technology, which is applied in directions such as navigation through speed/acceleration measurement, can solve problems such as no analysis and research, no error suppression plan, etc., to improve navigation accuracy, solve attitude stability, improve The effect of attitude accuracy

Inactive Publication Date: 2013-05-08
HARBIN ENG UNIV
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Problems solved by technology

The above literatures all proposed a rotation scheme that can suppress positioning errors, but did not analyze and study the accuracy of the system’s solution to the attitude information and the form of the attitude error in the rotation state, nor did it give the corresponding error suppression scheme

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  • Method for restraining attitude errors of modulation type strapdown inertial navigation system
  • Method for restraining attitude errors of modulation type strapdown inertial navigation system
  • Method for restraining attitude errors of modulation type strapdown inertial navigation system

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Embodiment Construction

[0022] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0023] Such as figure 1 As shown, the present invention provides an attitude error suppression method for a modulated strapdown inertial navigation system, which specifically includes the following steps:

[0024] Step 1: The rotation mechanism drives the inertial component to rotate to the position where the IMU coordinate system coincides with the carrier coordinate system, and there is Where b represents the carrier coordinate system, s represents the IMU coordinate system, Indicates the s-system to b-system transformation matrix, and I represents the identity matrix.

[0025] Step 2: After fully warming up the fiber optic gyro strapdown inertial navigation system, the rotating mechanism drives the inertial component to perform single-axis forward and reverse stop motion with ω. A rotation scheme with four rotation-stop sequences as on...

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Abstract

The invention provides a method for restraining attitude errors of a modulation type strapdown inertial navigation system. The method comprises the following steps that: a rotary mechanism drives an inertial component to rotate to a position in which an inertial measurement unit (IMU) coordinate system is coincided with a carrier coordinate system; the inertial component performs single-shaft forward and backward rotation and stop motion; navigational parameters are designed according to a navigational parameter design principle under rotation modulation; the angular velocity and the linear acceleration of the motion of measurement carriers of an optical fiber gyro and a quartz accelerometer are acquired in real time; the control angular rate is corrected; carrier attitude information is obtained by performing navigation solution through using IMU measurement information and the corrected control angular rate; solved velocity errors are obtained by updating the carrier movement velocity; and the obtained carrier attitude information and velocity errors are used as navigation information which is finally output by the system. By adopting the method, oscillation errors related to the rotation modulation in the solved attitude information are eliminated, the navigation accuracy is improved, and the applicability of the solved attitude information of the system is enhanced.

Description

technical field [0001] The invention relates to a method for suppressing an attitude error of a modulated optical fiber gyro strapdown inertial navigation system, which belongs to a method for suppressing navigation information errors in the field of inertial technology. Background technique [0002] The strapdown inertial navigation system (SINS), as a fully autonomous navigation system capable of continuously outputting carrier velocity, attitude, and position information, is widely used in aviation, aerospace, navigation and other fields. It mainly uses gyroscopes and accelerometers to measure the angular motion and linear motion information of the carrier, and obtains navigation information after navigation calculation. However, due to the fact that there is always a certain deviation between the output value of the inertial component and the measured value, that is, there is a constant value deviation of the inertial component, the positioning error of the system soluti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
Inventor 孙枫王秋滢齐昭高伟高峰
Owner HARBIN ENG UNIV
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