An Analysis Method Directly Based on Convergence Time of Fourth-Order Compass Azimuth Alignment System

Abstract

The invention provides an analysis method directly based on the convergence time of the fourth-order compass azimuth alignment system. By finding out the system error, the azimuth error frequency domain response of the system error is obtained, and the compass azimuth alignment parameters are set to obtain the eastward gyro constant value. Drift frequency domain response function and initial azimuth error frequency domain response function, Laplace inverse transform into east gyroscope constant drift time domain response function and initial azimuth error time domain response function and simplification, inverse solution convergence time t. The present invention realizes reasonable selection of relevant parameters of compass azimuth alignment and precise control of convergence time of compass azimuth alignment, and solves the problem of using a classic second-order compass azimuth alignment system to analogy to a fourth-order compass azimuth alignment system. The azimuth error of the fourth-order compass azimuth alignment system is transformed from the frequency domain to the time domain, which solves the problem that the error band cannot be taken as a percentage of the steady state value of the initial azimuth error, and at the same time meets the requirements for the accuracy of the inertial device and the azimuth angle accuracy requirements.

Description

technical field [0001] The invention belongs to the field of inertial navigation, and in particular relates to an analysis method based directly on the convergence time of a 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 transmit any signals, it has a highly concealed, all-weather and global navigation capability. Inertial navigation system has been widely used in many military and civil fields such as aviation, aerospace, navigation, etc., and has become a main navigation device currently used on various carriers. In order to ensure that the inertial navigation system achieves high performance indicators, the initial alignment is one of the key technologies of the inertial navigation system, and the compass alignment is an autonomous initial alignment method using the compass effect and classical control theo...

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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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