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A Calculation and Compensation Method of Angular Rate of Platform Drift Caused by Base Movement

A compensation method and angular rate technology, which are applied in the field of four-axis inertial platform systems, can solve the problems that the platform body of the four-axis inertial platform system cannot be stabilized in inertial space, and there is no clear calculation method, and achieve the effect of improving navigation accuracy.

Active Publication Date: 2019-12-20
BEIJING INST OF AEROSPACE CONTROL DEVICES
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Problems solved by technology

[0003] In order to realize the full-attitude function of the four-axis inertial platform system, it is necessary to decouple the servo loop. Although the existing decoupling method effectively solves the problem of realizing the full-attitude, it cannot make the platform of the four-axis inertial platform system always stable in inertial space
In addition, at present, only qualitative analysis can be performed on the drift angular rate of the platform drift caused by the movement of the base, and there is no clear calculation method

Method used

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  • A Calculation and Compensation Method of Angular Rate of Platform Drift Caused by Base Movement
  • A Calculation and Compensation Method of Angular Rate of Platform Drift Caused by Base Movement
  • A Calculation and Compensation Method of Angular Rate of Platform Drift Caused by Base Movement

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[0031] In order to make the purpose, technical solution and advantages of the present invention clearer, the following will further describe the public implementation manners of the present invention in detail with reference to the accompanying drawings.

[0032] The method for calculating and compensating the angular rate of the platform body drift caused by the movement of the base in the present invention is aimed at the plane coordinate resolver, and the angular rate ω of the base movement is used y1 and ω z1 , the inner frame around the body coordinate system Z P Angle of shaft rotation β zk , Y of the outer frame around the body coordinate system of the inner frame P1 Angle of shaft rotation β yk , the X of the base around the body coordinate system of the outer frame P2 Angle of shaft rotation β xk and the Y of the base around the body coordinate system of the moving frame P3 Angle of shaft rotation β yk′ 6 variables are used as input information, and the drift a...

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Abstract

The invention discloses a method for calculating and compensating the angular rate for base movement caused platform drifting. The method is applied to a four-axis inert platform system, and comprises the following steps: measuring the angular rate of a base according to an external angular rate sensor having the same base with the platform; acquiring an internal relative rotating angle of the four-axis inert platform system; resolving according to the measured angular rate and the internal relative rotating angle of the base to obtain a drifting angular rate component, and compensating in a navigation equation. According to the method, the drifting generation mechanism of the four-axis inert platform system caused by base angular movement can be analyzed, and the drifting angular rate can be calculated and used for compensating, so that the navigation and guidance accuracy can be improved.

Description

technical field [0001] The invention belongs to the technical field of four-axis inertial platform systems, and in particular relates to an angular rate calculation and compensation method for platform body drift caused by base movement. Background technique [0002] Four-axis inertial platform systems have been widely used on vehicles with limited maneuvering attitudes, that is, in vehicles that do not simultaneously exhibit large attitude angles around two axes during flight. But sometimes because the carrier rocket and ballistic missile need to maneuver orbit change flight, especially the tactical missile, satellite and many military aircraft need to work in full attitude and large maneuvering state. Under such conditions, the platform of the four-axis inertial platform system is required body remains stable. [0003] In order to realize the full attitude function of the four-axis inertial platform system, it is necessary to decouple the servo loop. Although the existing...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/18G01C25/00
CPCG01C21/18G01C25/005
Inventor 魏宗康何远清
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES
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