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A Strapdown Inertial Navigation System with Nonlinear Compensation Filter

A non-linear compensation, strapdown inertial navigation technology, applied in the direction of navigation calculation tools, etc., can solve the problems of reliability, maintainability and cost restricting the accuracy of inertial components, difficulty in the accuracy of inertial components, and low cost of precision, and achieve low cost. , the effect of improving the accuracy and improving the accuracy

Active Publication Date: 2021-06-29
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For inertial components, reliability, maintainability and cost still restrict the improvement of the precision of inertial components. Therefore, the improvement of the precision of inertial components is difficult and limited.
The cost of improving the accuracy of the attitude algorithm is low, but the implementation is difficult, which is mainly determined by the maturity and complexity of the attitude algorithm itself.

Method used

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  • A Strapdown Inertial Navigation System with Nonlinear Compensation Filter
  • A Strapdown Inertial Navigation System with Nonlinear Compensation Filter
  • A Strapdown Inertial Navigation System with Nonlinear Compensation Filter

Examples

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Embodiment 1

[0070] In the present invention, it is defined that the navigation coordinate system (n system) coincides with the geographic coordinate system (g system), and its x n Axis points east, y n Axis points north, z n The axis refers to the sky; the x of the body coordinate system (b system) b The axis points to the right side of the body, y b The axis points to the nose along the longitudinal axis of the body, z b The axis points to the top of the body. The output of the MEMS gyroscope in low dynamic conditions is collected. The MEMS accelerometer bias is 2mg, the gyroscope bias is 60° / h, the sampling time is 1200s, and the sampling interval is 0.05s, that is, 200 accelerometers are collected within 1s. and gyroscope information

[0071] use figure 2 PCF_SINS shown, respectively add nonlinear compensation filter (execute image 3 process) and the navigation attitude without adding the nonlinear compensator, get the attitude after the solution, and compare, the results a...

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Abstract

The invention discloses a strapdown inertial navigation system with a nonlinear compensation filter, which adds a nonlinear compensation filter to the traditional strapdown inertial navigation system. On the one hand, the nonlinear compensation filter receives the specific force information output by the combination of accelerometers, and on the other hand, it receives the attitude matrix output by the attitude array calculation module. The third aspect is to perform attitude nonlinear compensation on the specific force information and the attitude matrix, and obtain the compensated attitude The post-compensation attitude matrix of the matrix is ​​output to the ratio coordinate transformation module. The invention takes the output of the accelerometer as a constraint, and performs nonlinear compensation and filtering on the attitude matrix obtained by calculating the angular rate, thereby suppressing the divergence of the attitude and improving the attitude accuracy.

Description

technical field [0001] The invention relates to a nonlinear compensation filter, more specifically, a nonlinear passive compensation filter which can improve the attitude accuracy of a strapdown inertial navigation system based on the output of an accelerometer. Background technique [0002] Strapdown inertial navigation system (SINS) is developed on the basis of platform inertial navigation system. It is a frameless system consisting of three rate gyroscopes, three linear accelerometers and a tiny navigation computer. Schematic diagram of the strapdown inertial navigation system (referred to in this application as figure 1 ) Please refer to the first edition of Science Press, May 2006, author Qin Yongyuan, "Inertial Navigation" p. 287. [0003] There are two main factors that restrict the attitude accuracy of traditional SINS: one is the accuracy of inertial components (including accelerometers and gyroscopes) itself; the other is the algorithm accuracy of navigation atti...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 富立刘永永王玲玲
Owner BEIHANG UNIV
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