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Retrospective self-alignment method for single-axis rotating strapdown inertial navigation system

A strapdown inertial navigation and self-alignment technology, applied in the field of inertial navigation, can solve the problems of low engineering practicability and complex operation process, and achieve the effect of improving engineering practicability, simplifying operation process, and meeting embedded solution requirements.

Active Publication Date: 2018-11-23
四川航浩科技有限公司
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Problems solved by technology

However, according to the method described in the literature, the navigation computer needs a large enough storage space and a strong enough computing power to complete the embedded computing
Taking the sampling period of 5ms and the alignment time of 300s as an example, the method needs to store a total of 6 double-precision floating-point numbers of gyroscope and accelerometer data per cycle, occupying a total of 6×200×300×8≈2.75MB of storage space. 200×300×2=120,000 strapdown calculations can be completed within a short period of time, which is difficult for general embedded navigation computers, resulting in low engineering practicability of the method; in addition, the method adopts manual measurement and compensation for the installation rod arm method, the operation process is complicated

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Embodiment Construction

[0031] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0032] The present invention comprises 4 accompanying drawings altogether, combines below Figure 1 ~ Figure 4 The specific embodiment of the present invention will be described in detail.

[0033] 1. The indexing mechanism rotates.

[0034] refer to figure 1 , at t 0 After the instant inertial navigation system obtains the initial position and enters the alignment state, it controls the indexing mechanism to rotate around the azimuth axis. The rotation angular rate is fixed at ω, and its value is between 6 and 60 / s, and the direction of ω is alternately changed every time the azimuth axis rotates.

[0035] 2. Coarse alignment of the inertial system.

[0036] refer to figure 1 , in [t 0 ,t c ] time interval for real-time calculation of inertial system coarse alignment. First define the reference coordinate system required for the solution:

[0037] n—Na...

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Abstract

The invention relates to a backtracking type self-aligning method of a single-axial rotation strapdown inertial navigation system. According to the method, an initial curing coarse alignment method is adopted to process sampled data of a gyroscope and an accelerometer in real time, the gesture matrix of initial time is calculated, during the process, key data is synchronously compressed and stored for each second; after coarse alignment, the stored data is used to carry out backtrack Kalman filtering fine alignment, positive calculation is performed till the end, and in a Kalman filtering device, the installation rod arm is set in an error state to carry out online estimation. The provided method can guarantee the alignment precision and alignment time, at the same time, avoids the tedious reverse navigation calculation, reduces the memory space and calculation amount, and improves the engineering practicality.

Description

technical field [0001] The invention belongs to the field of inertial navigation, belongs to the technical field of initial alignment of a strapdown inertial navigation system, and specifically relates to a retroactive self-alignment method of a single-axis rotation strapdown inertial navigation system. Background technique [0002] The single-axis rotation method can modulate the low-frequency error of the gyroscope and accelerometer, and improve the self-alignment accuracy of the strapdown inertial navigation system (SINS) under the condition of certain device accuracy. However, in the rotation and shaking environment, a longer coarse alignment time is required to establish the initial attitude matrix to meet the requirements of the subsequent fine alignment linearization model. [0003] The document "A high-precision and rapid alignment method for a single-axis rotary strapdown inertial navigation system, Firepower and Command and Control, 2015, Vol40(7), p79-83" disclose...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 付强文李四海刘洋沈彦超严恭敏秦永元翁浚崔潇
Owner 四川航浩科技有限公司
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