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Sixteen-position error modulation method of dual-axis rotation inertial navigation system

An inertial navigation system and dual-axis rotation technology, applied in the field of inertial navigation, can solve the problems of speed accumulation error and suppression of coupling effect not reaching the optimum, so as to reduce accumulation, increase system cost and complexity, and reduce attitude error and the effect of velocity cumulative error

Active Publication Date: 2019-03-12
NAVAL UNIV OF ENG PLA
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Problems solved by technology

However, this scheme only adjusted the last eight positions of Yuan Baolun’s sixteen-position scheme, and did not change the rotation of the first eight positions. In the first eight positions, the coupling of installation error and rotational motion will still cause the cumulative error of the speed, so the coupling The suppression of the effect is suboptimal

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  • Sixteen-position error modulation method of dual-axis rotation inertial navigation system
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  • Sixteen-position error modulation method of dual-axis rotation inertial navigation system

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Embodiment Construction

[0065] Below in conjunction with accompanying drawing and specific embodiment the present invention will be described in further detail:

[0066] Such as figure 1 The sixteen position error modulation method of the two-axis rotary inertial navigation system, it includes the following steps:

[0067] Step S11: Determine the carrier coordinate system where the inertial measurement unit of the dual-axis rotary inertial navigation system is located, and determine the center of mass of the inertial measurement unit as the coordinate origin according to the direction in which the dual-axis rotary inertial navigation system is installed on the carrier. In the transverse section of the carrier, the X-axis is selected to point to the right side of the IMU, the Y-axis is to point to the front of the IMU, and the Z-axis is to point to the top of the IMU;

[0068] Step S12: Determine the two rotating shafts that the inertial measurement unit of the rotating inertial navigation system rot...

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Abstract

The invention discloses a sixteen-position error modulation method of a dual-axis rotation inertial navigation system. The method comprises the following steps: determining a carrier coordinate system, determining a rotating axis, determining a rotating coordinate system, defining constant errors, calibration factor errors and installation errors of a gyroscope and an accelerometer, determining arotational angular velocity, a position stopping frequency and a rotational angular velocity, sequentially determining rotating axes, rotating directions, rotating angles and stopping times under 1-16rotating orders, determining an attitude error within one rotating period, determining a velocity error within one rotating period, and determining long-endurance latitude and longitude errors. Underthe condition that the system cost and complexity are not increased, by changing the rotating orders of sixteen positions, an attitude error and a velocity accumulation error within one rotating period of the system are effectively reduced, and simultaneously, the oscillation amplitudes of the caused latitude and longitude errors are obviously reduced, thereby further improving the navigation accuracy of the dual-axis rotation inertial navigation system.

Description

[0001] The invention relates to the technical field of inertial navigation, in particular to an error modulation method of a dual-axis rotary inertial navigation system based on sixteen-position rotation. technical background [0002] The inertial navigation system ("inertial navigation system") is an important autonomous, concealed It is widely used in the fields of aviation, spaceflight and navigation navigation. Because the system has an integral link in the navigation calculation, the inertial navigation system error accumulates with time under the action of the error source. The rotary inertial navigation system is to reduce the system error by adding a rotating mechanism to the system inertial measurement unit and driving the unit to rotate periodically around the carrier to modulate the constant value error source and slowly changing error source of the system. Currently, rotary inertial navigation systems can be divided into single-axis and dual-axis rotary inertial n...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 查峰傅军常路宾何泓洋覃方军李京书
Owner NAVAL UNIV OF ENG PLA
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