Robust alignment method for module value detection moving base

A base robust, modulus technology, applied in the direction of measuring devices, instruments, etc., can solve the problem that external auxiliary information cannot accurately perform initial alignment

Active Publication Date: 2019-08-09
SUZHOU UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The problem that the traditional method cannot accurately perform the initial alignment when the external auxiliary information is abnormal

Method used

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  • Robust alignment method for module value detection moving base
  • Robust alignment method for module value detection moving base
  • Robust alignment method for module value detection moving base

Examples

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Embodiment Construction

[0074] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

[0075] A specific application scenario of the present invention is introduced below:

[0076] In this embodiment, a method for robust alignment of a modulus detection moving base proposed by the present invention is simulated and verified by Matlab simulation software, thereby proving the robustness of the alignment process. The simulation hardware environment is Intel(R) Core(TM) T9600CPU 2.80GHz, 4G RAM, Windows 7 operating system. Such as figure 2 Shown is the motion curve of the carrier during the alignment process. image 3 , Figure 4 , Figure 5 It is the initial alignment error diagram of DVL-assisted SINS during travel. It can be seen from the figure that after using...

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Abstract

The invention discloses a robust alignment method for a module value detection moving base. The robust alignment method for the module value detection moving base is characterized in comprising the following steps that: obtaining the real-time data of an inertial sensor, and carrying out attitude update; obtaining auxiliary sensor information, and constructing a vector observer; carrying out module value calculation on the vector observer, and carrying out exception detection by a standard module value; through the module value detection, weakening an exception noise influence, and constructing an adaptive vector attitude determining method; initializing alignment process operation time as M; if an attitude change frequency k is equal to M, outputting an alignment result, and finishing aninitial alignment process; and if the attitude change frequency k is smaller than M, proving that the initial alignment process is not finished, and repeating the above steps to finish the initial alignment process. The method has the beneficial effect that the module value detection method is adopted to have the advantage of being convenient in calculation. The invention designs an optimal weightcalculation method, and has an efficient DVL (Doppler Velocity Log) measurement exception detection effect.

Description

technical field [0001] The invention relates to the field of initial alignment of a strapdown inertial navigation system, and belongs to a method for robust alignment of a moving base based on modulus detection. The modulus detection method is used to realize the robust alignment process, and the alignment result is weakened by the abnormal noise of DVL measurement. Impact. Background technique [0002] The strapdown inertial navigation system is an autonomous positioning system, and the initial alignment process is a prerequisite to ensure that the strapdown inertial navigation system can work properly. Currently, the initial alignment process of the SINS is performed on a stationary base or with good external auxiliary information, which limits the application range of the SINS. Especially for underwater vehicles and other systems that require autonomous navigation and positioning in complex environments, it is even more necessary for the strapdown inertial navigation sys...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 徐祥徐大诚白春风
Owner SUZHOU UNIV
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