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Constant-rate offset frequency/mechanically dithered laser gyro inertial navigation system navigation method

A machine-shaking laser gyroscope and laser gyroscope technology, applied in the field of inertial navigation systems, can solve problems such as gyroscope scale factor errors

Active Publication Date: 2016-06-01
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

[0003] Aiming at the problem that the existing single-axis constant-speed and frequency-biased laser gyro navigation system cannot solve the problem of the scale factor error of the gyro in the direction of the frequency-biased rotation axis, the present invention proposes a navigation method for a constant-speed and frequency-biased / machine-shaking laser gyro inertial navigation system

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  • Constant-rate offset frequency/mechanically dithered laser gyro inertial navigation system navigation method

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Embodiment Construction

[0089] The method in the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0090] Step 1: Mechanical shaker frequency bias laser gyro installation: in three gyroscopes (g x , g y , g z ), three quartz flexible accelerometers (a x 、a y 、a z ) on the basis of the high-precision laser gyro constant-speed bias frequency north-seeking system, install a mechanically shaken frequency bias laser gyroscope g fixed on the base that does not rotate with the frequency bias mechanism dz , whose sensitive axis is consistent with the rotation axis, providing information on the angular motion of the carrier in the direction of the frequency-biased rotation axis;

[0091] Step 2: Definition of coordinate system and installation relationship:

[0092] Define the n system as the local horizontal geographic coordinate system, N-E-D (North-East-Earth) direction;

[0093] b g The system is a constant-velocity-bias-frequency IMU (ine...

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Abstract

The invention belongs to the field of inertial navigation, and discloses a constant-rate offset frequency / mechanically dithered laser gyro inertial navigation system navigation method by aiming at solving the problems that a positive and reverse rotation speed rate offset frequency mode laser gyro inertial navigation system requires offset frequency mechanism instantaneous reverse rotation, but the realization difficulty is high; a constant-rate offset frequency mode laser gyro inertial navigation system cannot overcome the defects of great pure inertial navigation errors and equivalent drift errors relevant to offset frequency rotating shaft direction gyro scale factor errors. Through the steps of mechanically dithered offset frequency laser gyro installation, coordinate system and installation relationship definition, offset frequency rotating shaft direction equivalent gyro sampling value calculation, precise installation relationship matrix calibration, precise mechanically dithered laser gyro sensitive axis unit vector calibration, initial alignment kalman filter design and pure inertial navigation error correction compensation, the fast high-precision initial alignment is realized; the north and east position errors of the pure inertial navigation are reduced; the navigation precision is improved.

Description

Technical field: [0001] The invention relates to the field of inertial navigation systems, in particular to a navigation method of a constant-speed bias frequency / machine-shaking laser gyro inertial navigation system. Background technique: [0002] The single-axis rotation modulation technology can averagely modulate the inertial device error perpendicular to the rotation axis. For the device error in the axis of the rotation axis, some scholars use online calibration and compensation methods, but the calibration time is generally long, which cannot meet the rapidity requirements. The rate-biased laser gyro inertial navigation system solution can not only overcome the influence of random walk errors in the lock-up area of ​​the mechanical jitter-biased laser gyro, but also offset the gyroscope scale factor error related to the biased rotation axis direction in the forward and reverse mode. The drift error of the effect can be improved to improve the accuracy of the inertial ...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/20
Inventor 吴文启周跃诚王林李云
Owner NAT UNIV OF DEFENSE TECH
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