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Validation method for gyro-free inertial navigation system based on given angular acceleration

An inertial navigation system, angular acceleration technology, applied in the field of inertial navigation system simulation, can solve the problem of not meeting the requirements of verifying the non-gyro inertial navigation system

Inactive Publication Date: 2017-05-31
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

Therefore, the inertial navigation simulation data generation method based on gyroscope design can no longer meet the requirements of verifying gyroscope-free inertial navigation system

Method used

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  • Validation method for gyro-free inertial navigation system based on given angular acceleration
  • Validation method for gyro-free inertial navigation system based on given angular acceleration
  • Validation method for gyro-free inertial navigation system based on given angular acceleration

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Embodiment Construction

[0070] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0071] The invention relates to a verification method of a gyro-free inertial navigation system based on given angular acceleration, and belongs to the field of inertial navigation system simulation. The invention provides a trajectory data generation method, which provides trajectory and inertial device acceleration data for model verification of the navigation system for the calculation research of a strapdown inertial navigation system based on an angular acceleration sensor and a linear acceleration sensor. The generation of position data in the present invention only needs to specify the forward acceleration and angular acceleration of the carrier, which is simpler than other data generation methods.

[0072] Several coordinate systems involved in the present invention include: the earth-centered inertial coordinate system is represented as the i syst...

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Abstract

The invention provides a validation method for a gyro-free inertial navigation system based on a given angular acceleration. Sensor data and path data are acquired through the angular acceleration and forward acceleration of a given carrier and are used for validating a navigation system solution model. According to a path generation method disclosed by the invention, a movement path of an object can be very intuitively planned, and the shape of the movement path can be given in advance; the pose data are generated by only giving the forward acceleration and angular acceleration of the carrier, the position coordinate of the carrier in a space can be obtained by acceleration integration and projection, and the sensor data and path data can be obtained. Compared with other data generation methods, the method disclosed by the invention is simple, and the condition that the sensor data do not exist is avoided.

Description

technical field [0001] The invention relates to the technical field of inertial navigation system simulation, in particular to a verification method for a gyro-free inertial navigation system based on given angular acceleration. Background technique [0002] Angular motion is one of the most basic forms of motion in nature, and it is of great significance to accurately and effectively describe the angular motion of moving objects to explain the laws of motion of moving objects. Angular motion can be described by angular displacement, angular velocity, and angular acceleration. Being able to accurately measure any of the three physical quantities is of great significance for revealing the laws of motion of objects. In recent years, with the development of angular acceleration sensors, the accuracy of angular acceleration sensors has been improved, so that angular acceleration sensors can achieve the accuracy of gyroscopes in terms of angular motion sensitivity and calculation...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 王美玲郑鑫刘彤李博
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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