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Initial alignment method for strapdown inertial navigation system

An initial alignment, strapdown inertial navigation technology, applied in the direction of navigation, measurement devices, instruments, etc. through velocity/acceleration measurement, which can solve problems such as shaking interference and errors

Active Publication Date: 2015-04-08
SHANGHAI HUACE NAVIGATION TECH
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  • Abstract
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AI Technical Summary

Problems solved by technology

If the carrier (i.e. agricultural machinery) has a large magnitude of shaking interference, the above coarse alignment method may produce a large error

Method used

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  • Initial alignment method for strapdown inertial navigation system
  • Initial alignment method for strapdown inertial navigation system
  • Initial alignment method for strapdown inertial navigation system

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Embodiment Construction

[0073] In order to describe the technical content of the present invention more clearly, further description will be given below in conjunction with specific embodiments.

[0074] The letter k in the initial alignment method of the strapdown inertial navigation system in the present invention has the following two meanings: the first one, k is the mark after the discretization of time, and the meaning of the variables in the following table is the sampling of the discrete time Value or calculation result, such as a(k), that is, when k=1, it is the first sampling point or calculation result. In this meaning, k represents the time scale; the second type, k is the imaginary number in the changing quaternion unit, i.e. only when q=q 0 +q 1 i+q 2 j+q 3 When in k, k is an imaginary number unit, in the following description, the meaning of k is provided every time k occurs (unexplained k represents the time scale), to prevent those skilled in the art from affecting the understandi...

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Abstract

The invention relates to an initial alignment method for a strapdown inertial navigation system. The initial alignment method for the strapdown inertial navigation system includes that obtaining an inertial coordinate system-to-aerospace coordinate system transformation matrix FORMULA (as shown in the description), an ib0 coordinate system-to-inertial coordinate system transformation matrix FORMULA (as shown in the description) and a carrier coordinate system-to-ib0 coordinate system transformation matrix FORMULA (as shown in the description) according to the position information, acceleration and angular speed of a carrier; obtaining a carrier coordinate system-to-aerospace coordinate system transformation matrix according to the inertial coordinate system-to-aerospace coordinate system transformation matrix FORMULA (as shown in the description), the ib0 coordinate system-to-inertial coordinate system transformation matrix FORMULA (as shown in the description) and the carrier coordinate system-to-ib0 coordinate system transformation matrix FORMULA (as shown in the description), and realizing the coarse alignment of the carrier according to the carrier coordinate system-to-aerospace coordinate system transformation matrix; calculating to obtain a navigation error angle after the coarse alignment, and realizing the fine alignment of the carrier according to the navigation error angle. The initial alignment method for the strapdown inertial navigation system improves the initial alignment precision of the strapdown inertial navigation system and reduces the initial alignment error, and the application range is broad.

Description

technical field [0001] The invention relates to the field of communication technology, in particular to mechanical control, and in particular to a strapdown inertial navigation system initial alignment method. Background technique [0002] With the development of MEMS (Micro-Electro-Mechanical-System) sensors, navigation and control technology and the further increase of the country's support for agriculture, precision agriculture is rapidly becoming a trend, and in the process of auxiliary driving control of agricultural machinery , the attitude (including pitch angle, roll angle and navigation angle), speed and position information of the vehicle body can reflect the motion and position information of the vehicle body in real time, and this information can provide important data input for high-precision integrated navigation and control algorithms . [0003] Strapdown Inertial Navigation System (SINS) has the characteristics of autonomous navigation, good confidentiality,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C21/16
CPCG01C25/005
Inventor 任强尹修杰沈雪峰戴文鼎王杰俊
Owner SHANGHAI HUACE NAVIGATION TECH
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