Analysis method directly based on convergence time of four-order compass azimuth alignment system

Abstract

The invention provides an analysis method directly based on the convergence time of a four-order compass azimuth alignment system. An azimuth error frequency domain response of a system error is obtained by finding out a system error; compass azimuth alignment parameters are set; an east gyroscope constant drift frequency domain response function and an initial azimuth error frequency domain response function are obtained; an east gyroscope constant drift time domain response function and an initial orientation error time domain response function are obtained by inverse Laplace transform and are simplified; and convergence time t is inversely solved. The reasonable selection of the compass azimuth alignment related parameters and the accurate control of the compass azimuth alignment convergence time are realized; the problem that a classical two-order compass azimuth alignment system is used for an analogy to the four-order compass azimuth alignment system is solved; the azimuth errorof the four-order compass azimuth alignment system is ingeniously transformed from the frequency domain to the time domain to be studied; the problem that an error band cannot be taken according to the percentage of an initial azimuth error steady-state value is solved; and the requirements on the inertial device precision and the azimuth precision are met at the same time.

Description

Technical field [0001] The invention belongs to the field of inertial navigation, and specifically relates to an analysis method directly based on the convergence time of the fourth-order compass azimuth alignment system. Background technique [0002] The inertial navigation system is a completely autonomous system. It does not rely on any information from the outside world, nor does it emit any signals. It has high concealment, all-weather and global navigation capabilities. Inertial navigation systems have been widely used in many military and civilian fields such as aviation, aerospace, and navigation, and have become a major navigation device currently used on various carriers. In order to ensure that the inertial navigation system achieves high performance indicators, initial alignment is one of the key technologies of the inertial navigation system, and compass alignment is an autonomous initial alignment method that uses the compass effect and classic control theory. Comp...

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Problems solved by technology

[0004] There are many related literatures on compass alignment technology of inertial system, but there are few methods for analyzing the convergence time of compass alignment

Among them, the typical literature is Yan Gongmin's "Research on the Initial Alignment of Strapdown Inertial Navigation System's Moving Base and Other Related Issues" (Northwestern Polytechnical University Postdoctoral Research Work Report, 2008), which proposed a compass alignment method based on attitude reverse calculation. The inertial navigation data is stored and calculated repeatedly to make the compass alignment converge quickly, and a fourth-order compass azimuth alignment control system is designed, and it is pointed out that the convergence time of the compass azimuth alignment is related to the set second-order damping oscillation period, but this paper does not Directly analyze the fourth-order compass azimuth alignment control system, and only use the analysis method of the traditional second-order system to compare the fourth-order compass azimuth alignment control system

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