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Method for determining initial status of strapdown inertial navigation system

A strapdown inertial navigation and initial attitude technology, which is applied in directions such as navigation through velocity/acceleration measurement, which can solve the problems of slow convergence speed, inability to perform good estimation, and high accuracy requirements of the indexing mechanism, and improve the filtering effect. , the effect of improved observability

Active Publication Date: 2007-02-07
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

When processing the data of a single location, the observability of the azimuth misalignment angle is poor, the convergence speed is slow, and the time required is long, and the errors of the gyroscope and accelerometer are not observable, so it is impossible to make a good estimate. It does not achieve the purpose of improving the accuracy of the initial attitude, nor can it achieve the calibration of the gyroscope and accelerometer at the same time as the initial attitude calculation
When processing the data of fixed two positions, as described above, the existing method for determining the initial attitude of fixed two positions has the limitation of rotation angle, and requires high precision of the indexing mechanism, which is often not applicable in specific projects

Method used

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  • Method for determining initial status of strapdown inertial navigation system
  • Method for determining initial status of strapdown inertial navigation system
  • Method for determining initial status of strapdown inertial navigation system

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Embodiment Construction

[0046] Such as figure 1 As shown, the specific implementation method of the present invention is as follows:

[0047] 1. Preparation of strapdown inertial navigation system

[0048] After SINS is powered on, it enters the ready state.

[0049] 2. First position data collection

[0050] After the SINS is ready, keep the SINS at its initial position (called the first position) and collect the gyroscope output and accelerometer output for 5 minutes. If the accuracy of the SINS is low, the data collection time can be appropriately extended.

[0051] 3. The first position posture calculation

[0052] The navigation coordinate system is taken as the northeast sky geographic coordinate system, and the heading angle at the first position is  1 , Pitch angle θ 1 And roll angle γ 1 Is defined as Figure 2a , Figure 2b and Figure 2c as shown.

[0053] The output of the accelerometer and the acceleration of gravity and the output of the gyroscope are related to the angular rate of the earth'...

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Abstract

The initial attitude determination method for SINS comprises: rotating the SINS from initial position to any one position round arbitrary 3D axis; according to SINS output on first position and the relation of earth rotational angular velocity and acceleration of gravity, determining the initial attitude primarily; then, using Kalman filter to estimate the gyro constant drift and other values for more accurate initial attitude. This invention improves observability and precision.

Description

Technical field [0001] The present invention relates to a method for determining the initial attitude of strapdown inertial navigation system (SINS), which can be used to determine the initial attitude of various medium and high-precision strapdown inertial navigation systems, and is particularly suitable for airborne SINS installation without indexing mechanism, or When the indexing mechanism has low precision and limited rotation angle. Background technique [0002] The basic principle of the strapdown inertial navigation system (SINS) is based on the laws of relative inertial space proposed by Newton, using gyroscopes and accelerometers to measure the linear motion and angular motion parameters of the carrier relative to the inertial space, under given initial conditions of motion , The computer performs integral calculations to provide position, speed and attitude information continuously and in real time. SINS completely relies on its own inertial sensitive components and do...

Claims

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Application Information

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IPC IPC(8): G01C21/16
Inventor 房建成宫晓琳盛蔚杨胜徐帆刘百奇
Owner BEIHANG UNIV
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