CN110763231A - Error-free attitude updating method suitable for fiber optic gyroscope filtering signal - Google Patents

Error-free attitude updating method suitable for fiber optic gyroscope filtering signal Download PDF

Info

Publication number
CN110763231A
CN110763231A CN201910978003.5A CN201910978003A CN110763231A CN 110763231 A CN110763231 A CN 110763231A CN 201910978003 A CN201910978003 A CN 201910978003A CN 110763231 A CN110763231 A CN 110763231A
Authority
CN
China
Prior art keywords
coordinate system
time
fiber
optic gyroscope
carrier coordinate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201910978003.5A
Other languages
Chinese (zh)
Other versions
CN110763231B (en
Inventor
李倩
高倩倩
赵玉新
周广涛
奔粤阳
吴磊
臧新乐
崔文婷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Hatran Navigation Technology Co ltd
Original Assignee
Harbin Engineering University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin Engineering University filed Critical Harbin Engineering University
Priority to CN201910978003.5A priority Critical patent/CN110763231B/en
Publication of CN110763231A publication Critical patent/CN110763231A/en
Application granted granted Critical
Publication of CN110763231B publication Critical patent/CN110763231B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope

Abstract

The invention provides an error-free attitude updating method suitable for a fiber optic gyroscope filtering signal, and belongs to the field of strapdown inertial navigation. The method comprises the following steps: 1. giving initial navigation parameters; 2. the system sets a sampling period and an attitude resolving period, and acquires output signals of the fiber-optic gyroscope subjected to average filtering processing on three axes in real time; 3. the phase compensation digital filter performs phase compensation on the collected fiber optic gyroscope filtering signal to obtain a gyroscope output signal without phase delay; 4. recursive measurement tk+1Angular velocity of rotation at a time; 5. recursive measurement tk+1A conversion matrix from the time carrier coordinate system to the rotating coordinate system; 6. recursive measurement tk+1Rotating the coordinate system by time tkA conversion matrix of the moment carrier coordinate system b; 7. recursive measurement tk+1Time carrier coordinate system to tkAnd combining the conversion matrix of the time carrier coordinate system with the result of the last resolving period to complete the error-free attitude update suitable for the filtering signal of the fiber-optic gyroscope. The invention solves the problem of no filtering signal of the fiber-optic gyroscopeAnd (4) error posture updating.

Description

Error-free attitude updating method suitable for fiber optic gyroscope filtering signal
Technical Field
The invention relates to an attitude updating method of a strapdown inertial navigation system, in particular to an error-free attitude updating method suitable for a fiber-optic gyroscope filtering signal of the strapdown inertial navigation system, and belongs to the field of strapdown inertial navigation.
Background
Since the advent of the strapdown inertial navigation system, scholars at home and abroad have conducted a great deal of research on high-performance strapdown inertial navigation algorithms. The navigation algorithm of the strapdown inertial navigation system consists of a posture updating algorithm, a speed updating algorithm and a position updating algorithm, wherein the posture updating algorithm is the core of the whole strapdown algorithm. This is because the attitude update algorithm not only directly determines the accuracy of the navigation attitude angle, but also has a crucial influence on the output accuracy of speed and position. For a fiber optic gyroscope strapdown inertial navigation system, the output of the gyroscope contains not only the angular velocity of the carrier, but also some high frequency noise. Averaging filtering is usually required to demodulate the angular velocity information of the carrier. Amplitude-frequency and phase-frequency characteristics of the averaging filter influence gyro signals, and the filtered signals are distorted. Therefore, it is necessary to develop an error-free attitude updating method suitable for the fiber-optic gyroscope filtering signal.
However, in published articles, such as yellow Lei, Liu Jian and ever-celebrated New Cone Algorithm based on high-order compensation model in the book 17 of the book of Chinese inertia technology, No. 6, higher-order analysis of rotational vector differential equations is performed to better compensate for cone errors. In addition, Ignagi M B takes the limited bandwidth of the gyro into account in the article of "Optimal Strapdown integration algorithms", published in Journal of guide Control and dynamics ", and designs an Optimal cone compensation algorithm. In addition, Wangman and Wu Wen are more comprehensive in consideration of the article "High-order estimation and coordination and rotation linkage estimation environment" published in IEEETransactions on Aerospace and Electronic Systems ", the six-order approximation of the differential equation of the rotation vector is retained, the attitude updating precision is greatly improved, but the derivation process of the compensation algorithm is very complicated.
The published articles describe and explore the attitude updating algorithm of strapdown inertial navigation, but all the attitude updating algorithms are obtained on the basis of approximation of a rotating vector differential equation, and principle errors exist essentially. In addition, the above algorithms are based on ideal sensor output signals, and in practical situations, the sensor signals are distorted, resulting in reduced algorithm performance. Therefore, the method for researching the error-free attitude updating algorithm based on the output signals of the actual condition sensor has innovativeness and actual engineering value.
Disclosure of Invention
The invention provides an error-free attitude updating method suitable for a filter signal of a fiber-optic gyroscope, and aims to realize error-free attitude updating under the condition of distortion of an output signal of a sensor.
The purpose of the invention is realized as follows:
step 1, initial navigation parameters are given (t is 0 moment): obtaining an initial pitch attitude angle theta by initial alignment of a fiber optic gyroscope strapdown inertial navigation system0Initial roll attitude angle gamma0Initial azimuth psi0。
Step 2, the system sets a sampling period h, an attitude calculation period T, wherein T is h, and an attitude calculation period loop mark k, namely TkTo tk+1The time period represents a speed resolving period T, and the output signals omega of the fiber-optic gyroscope on three axes after average filtering processing are collected in real timek,k＝0,1,2…；
Step 3, phase compensation digital filter HF(Z) carrying out phase compensation on the output signal of the fiber-optic gyroscope after average filtering processing to obtain the gyroscope output signal without phase delay
Figure BDA0002234278140000021
Step 4. recursion measuring tk+1Time of day rotationAngular velocity α of rotation of the movement of coordinate system s relative to carrier coordinate system bk+1。
Step 5. recursion measuring tk+1Transformation matrix from time carrier coordinate system b to rotating coordinate system s
Figure BDA0002234278140000022
Step 6. recursion measuring tk+1Time of day rotating coordinate system s to tkTransformation matrix of time carrier coordinate system b
Figure BDA0002234278140000023
Step 7. recursion measuring tk+1Time carrier coordinate system b to tkTransformation matrix of time carrier coordinate system b
Using tk+1Time carrier coordinate system b to tkTransformation matrix of time carrier coordinate system b
Figure BDA0002234278140000025
And the attitude updating without error suitable for the filtering signal of the fiber-optic gyroscope is completed by combining the result of the last resolving period.
The invention also includes:
the specific expression of the phase compensation digital filter in the step 3 is as follows:
Figure BDA0002234278140000026
where M is the order of the phase compensated digital filter, λ1,λ2,...,λMAre weight coefficients, i.e. the undetermined coefficients of the digital filter. Weight coefficient lambda1,λ2,...,λMThe expression is as follows:
Figure BDA0002234278140000027
wherein Q is2Is λ2,λ3,λ4,…,λMA column vector of M-1 dimension, Z is a square matrix of (M-1) × (M-1), E is a column vector of M-1 dimension:
Z(r,s)＝{S(Ω)[1-cos(rΩT)]+C(Ω)sin(rΩT)}·{S(Ω)[1-cos(sΩT)]+C(Ω)sin(sΩT)}
E(r)＝S(Ω){S(Ω)[1-cos(rΩT)]+C(Ω)sin(rΩT)}
wherein r is the number of rows r of the matrix Z and the column vector E is 0,1,2, …, M-1; s is the number of columns of the square matrix, s is 0,1,2, …, M-1; omega is a vibration main frequency point set by a user according to the working environment of the fiber-optic gyroscope, and S (omega) is sin [ gamma ]F(Ω)]，C(Ω)＝cos[γF(Ω)]，γF(Ω) is the phase delay of the phase compensated digital filter at the main frequency point Ω.
The process in the step 4 specifically comprises the following steps: using tkGyro output signal without phase delay at moment
Figure BDA0002234278140000028
And tk+1Gyro output signal without phase delay at moment
Figure BDA0002234278140000029
Obtaining the angular velocity α of the rotation of the rotating coordinate system s relative to the motion of the carrier coordinate system bk+1Is composed of
Figure BDA0002234278140000031
Wherein omega is a vibration dominant frequency point, | H, set by a user according to the working environment of the fiber-optic gyroscopeF(omega) is the amplitude-frequency gain of the phase compensation digital filter at the main frequency point omega; sin for medical use-1(. -) represents the arcsine value of.i | represents the module value of.x represents the vector cross product.
Step 5 said transformation matrix
Figure BDA0002234278140000032
The solving process is as follows: using t obtained in step 4k+1Angular velocity α of rotation of the movement of the time-of-day rotation coordinate system s relative to the carrier coordinate system bk+1Calculating to obtain tk+1Time carrierTransformation matrix from coordinate system b to rotational coordinate system s
Figure BDA0002234278140000033
Wherein
Figure BDA0002234278140000035
Respectively represent αk+1The x, y, z axis components of (a).
Step 6 said transformation matrix
Figure BDA0002234278140000036
The solving process is as follows: using tkGyro output signal without phase delay at moment
Figure BDA0002234278140000037
And t obtained in step 4k+1Angular velocity α of rotation of the movement of the time-of-day rotation coordinate system s relative to the carrier coordinate system bk+1Calculating to obtain tk+1Time of day rotating coordinate system s to tkTransformation matrix of time carrier coordinate system b
Figure BDA0002234278140000038
Figure BDA0002234278140000039
Step 7 said transformation matrix
Figure BDA00022342781400000310
The solving process is as follows: using t obtained in step 5k+1Transformation matrix from time carrier coordinate system b to rotating coordinate system s
Figure BDA00022342781400000311
And t obtained in step 6k+1Time of day rotating coordinate system s to tkTransformation matrix of time carrier coordinate system b
Figure BDA00022342781400000312
Calculating to obtain tk+1Time carrier coordinate system b to tkTransformation matrix of time carrier coordinate system b
Figure BDA00022342781400000313
Figure BDA00022342781400000314
The invention has the beneficial effects that:
aiming at the problem of attitude updating of a strapdown inertial navigation system, the invention provides an error-free attitude updating method suitable for a filter signal of a fiber-optic gyroscope, so that error-free attitude updating under the condition of signal distortion of a sensor is realized, and a good foundation is laid for the next speed and position updating.
Drawings
FIG. 1 is a flow chart of an error-free attitude updating method for a fiber optic gyroscope filtering signal according to the present invention;
FIG. 2 is an algorithm error comparison.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
the invention provides an error-free attitude updating method suitable for a fiber optic gyroscope filtering signal. The method comprises the following steps: obtaining an initial pitch attitude angle theta by initial alignment of a fiber optic gyroscope strapdown inertial navigation system0Initial roll attitude angle gamma0Initial azimuth psi0；
The system sets a sampling period h and an attitude resolving period T, and acquires output signals omega of the fiber-optic gyroscope subjected to average filtering processing on three axes in real timek,k＝0,1,2…；
Phase compensated digital filter HF(Z) carrying out phase compensation on the collected fiber-optic gyroscope filtering signal to obtain a gyroscope output signal without phase delay
Figure BDA0002234278140000041
Using tkGyro output signal without phase delay at moment
Figure BDA0002234278140000042
And tk+1Gyro output signal without phase delay at moment
Figure BDA0002234278140000043
The rotation angular velocity α of the motion of the rotation coordinate system s relative to the carrier coordinate system b is obtained by vector cross multiplicationk+1；
Using α obtained abovek+1Calculating to obtain tk+1Conversion matrix from time carrier coordinate system to rotating coordinate system
Figure BDA0002234278140000044
Using tkGyro output signal without phase delay at moment
Figure BDA0002234278140000045
And tk+1Angular velocity α of rotation of the time-of-day rotational coordinate system relative to the motion of the carrier coordinate systemk+1Calculating to obtain tk+1Rotating the coordinate system by time tkTransformation matrix of time carrier coordinate system
Figure BDA0002234278140000046
Using the conversion matrix obtained above
Figure BDA0002234278140000047
And
Figure BDA0002234278140000048
calculating to obtain tk+1Time carrier coordinate system to tkTransformation matrix of time carrier coordinate system
Figure BDA0002234278140000049
The result of the last resolving period is combined to complete the error-free filtering signal suitable for the fiber-optic gyroscopeAnd updating the poor posture. The invention solves the problem of error-free attitude updating of the fiber-optic gyroscope filtering signal.
The method for updating the attitude of the filtering signal of the fiber-optic gyroscope without error comprises the following steps:
step 1, initial navigation parameters are given (t is 0 moment): obtaining an initial pitch attitude angle theta by initial alignment of a fiber optic gyroscope strapdown inertial navigation system0Initial roll attitude angle gamma0Initial azimuth psi0。
Step 2, the system sets a sampling period h, an attitude calculation period T, wherein T is h, and an attitude calculation period loop mark k, namely TkTo tk+1The time period represents one speed resolving period T. Acquiring output signals omega of the fiber-optic gyroscope subjected to average filtering processing on three axes in real timek,k＝0,1,2…；
Step 3, phase compensation digital filter HF(Z) carrying out phase compensation on the output signal of the fiber-optic gyroscope after average filtering processing to obtain the gyroscope output signal without phase delayThe specific expression of the phase compensation digital filter is as follows:
Figure BDA0002234278140000052
where M is the order of the phase compensated digital filter, λ1,λ2,...,λMAre weight coefficients, i.e. the undetermined coefficients of the digital filter. Weight coefficient lambda1,λ2,...,λMThe expression is as follows:
Figure BDA0002234278140000053
wherein Q is2Is λ2,λ3,λ4,…,λMA column vector of M-1 dimension, Z is a square matrix of (M-1) × (M-1), E is a column vector of M-1 dimension:
Z(r,s)＝{S(Ω)[1-cos(rΩT)]+C(Ω)sin(rΩT)}·{S(Ω)[1-cos(sΩT)]+C(Ω)sin(sΩT)}
E(r)＝S(Ω){S(Ω)[1-cos(rΩT)]+C(Ω)sin(rΩT)}
wherein r is the number of rows r of the matrix Z and the column vector E is 0,1,2, …, M-1; s is the number of columns of the square matrix, s is 0,1,2, …, M-1; omega is a vibration main frequency point set by a user according to the working environment of the fiber-optic gyroscope, and S (omega) is sin [ gamma ]F(Ω)]，C(Ω)＝cos[γF(Ω)]，γF(Ω) is the phase delay of the phase compensated digital filter at the main frequency point Ω.
Step 4. recursion measuring tk+1Angular velocity α of rotation of the movement of the time-of-day rotation coordinate system s relative to the carrier coordinate system bk+1. Namely by tkGyro output signal without phase delay at moment
Figure BDA0002234278140000054
And tk+1Gyro output signal without phase delay at moment
Figure BDA0002234278140000055
Obtaining the angular velocity α of the rotation of the rotating coordinate system s relative to the motion of the carrier coordinate system bk+1Is composed of
Figure BDA0002234278140000056
Wherein omega is a vibration dominant frequency point, | H, set by a user according to the working environment of the fiber-optic gyroscopeF(omega) is the amplitude-frequency gain of the phase compensation digital filter at the main frequency point omega; sin for medical use-1(. -) represents the arcsine value of.i | represents the module value of.x represents the vector cross product.
Step 5. recursion measuring tk+1Transformation matrix from time carrier coordinate system b to rotating coordinate system s
Figure BDA0002234278140000057
Using t obtained in step 4k+1Angular velocity α of rotation of the movement of the time-of-day rotation coordinate system s relative to the carrier coordinate system bk+1Calculating to obtain tk+1Transformation matrix from time carrier coordinate system b to rotating coordinate system s
Figure BDA0002234278140000058
Figure BDA0002234278140000061
WhereinRespectively represent αk+1The x, y, z axis components of (a).
Step 6. recursion measuring tk+1Time of day rotating coordinate system s to tkTransformation matrix of time carrier coordinate system b
Figure BDA0002234278140000063
Using tkGyro output signal without phase delay at moment
Figure BDA0002234278140000064
And t obtained in step 4k+1Angular velocity α of rotation of the movement of the time-of-day rotation coordinate system s relative to the carrier coordinate system bk+1Calculating to obtain tk+1Time of day rotating coordinate system s to tkTransformation matrix of time carrier coordinate system b
Figure BDA0002234278140000065
Figure BDA0002234278140000066
Step 7. recursion measuring tk+1Time carrier coordinate system b to tkTransformation matrix of time carrier coordinate system b
Figure BDA0002234278140000067
Using t obtained in step 5k+1Transformation matrix from time carrier coordinate system b to rotating coordinate system s
Figure BDA0002234278140000068
And t obtained in step 6k+1Time of day rotating coordinate system s to tkTransformation matrix of time carrier coordinate system b
Figure BDA0002234278140000069
Calculating to obtain tk+1Time carrier coordinate system b to tkTransformation matrix of time carrier coordinate system b
Figure BDA00022342781400000610
Figure BDA00022342781400000611
Wherein
Figure BDA00022342781400000612
Wherein
Figure BDA0002234278140000071
Figure BDA0002234278140000072
Figure BDA0002234278140000073
Figure BDA0002234278140000075
Figure BDA0002234278140000076
Figure BDA0002234278140000077
Figure BDA0002234278140000078
Wherein
Figure BDA00022342781400000710
Representing a transformation matrixThe first row and column elements, and so on.
Using tk+1Time carrier coordinate system to tkTransformation matrix of time carrier coordinate system
Figure BDA00022342781400000712
And the attitude updating without error suitable for the filtering signal of the fiber-optic gyroscope is completed by combining the result of the last resolving period.
The invention realizes the posture updating without error under the condition of the distortion of the sensor signal. In order to verify the beneficial effect of the method, the method is used for simulating in a typical conical environment, so that the algorithm error is mainly reflected on an x axis and the error is dispersed along with time. And taking the half cone angle a of conical motion to be 5 degrees, the angular frequency omega to be 20 pi rad/s, the sampling period of the gyroscope to be 0.005s, and the simulation time to be 60 s. Compared with the traditional quaternion fourth-order Runge Kutta method and the equivalent rotation vector method of angular rate fitting, the result is shown in FIG. 2: group A is the simulation result of the traditional quaternion four-order Runge Kutta method, group B is the simulation result of the equivalent rotation vector method of angular rate fitting, and group C is the simulation result of the invention.

Claims (6)

1. An error-free attitude updating method suitable for a fiber optic gyroscope filtering signal is characterized by comprising the following steps of: the method comprises the following steps:
step 1: given the initial navigation parameters, i.e. the parameters at time t-0: initial alignment of fiber optic gyroscope strapdown inertial navigation system to obtain initial pitch attitude angleθ0Initial roll attitude angle gamma0Initial azimuth psi0；
Step 2: the system sets a sampling period h, an attitude resolving period T, wherein the T is h, and an attitude resolving period loop mark k, namely TkTo tk+1The time period represents a speed resolving period T, and the output signals omega of the fiber-optic gyroscope on three axes after average filtering processing are collected in real timek,k＝0,1,2…；
And step 3: phase compensated digital filter HF(Z) carrying out phase compensation on the output signal of the fiber-optic gyroscope after average filtering processing to obtain the gyroscope output signal without phase delay
Figure FDA0002234278130000011
And 4, step 4: recursive measurement tk+1Angular velocity α of rotation of the movement of the time-of-day rotation coordinate system s relative to the carrier coordinate system bk+1；
And 5: recursive measurement tk+1Transformation matrix from time carrier coordinate system b to rotating coordinate system s
Figure FDA0002234278130000012
Step 6. recursion measuring tk+1Time of day rotating coordinate system s to tkTransformation matrix of time carrier coordinate system b
Step 7. recursion measuring tk+1Time carrier coordinate system b to tkTransformation matrix of time carrier coordinate system b
Figure FDA0002234278130000014
Using tk+1Time carrier coordinate system b to tkTransformation matrix of time carrier coordinate system b
Figure FDA0002234278130000015
And are combined withAnd the result of the last resolving period completes the attitude updating without error suitable for the filtering signal of the fiber-optic gyroscope.
2. The method for updating the attitude of the fiber-optic gyroscope filtering signal without error according to claim 1, characterized in that: the specific expression of the phase compensation digital filter in the step 3 is as follows:
Figure FDA0002234278130000016
where M is the order of the phase compensated digital filter, λ1,λ2,...,λMIs a weight coefficient, i.e. the undetermined coefficient of the digital filter, a weight coefficient lambda1,λ2,...,λMThe expression is as follows:
Figure FDA0002234278130000017
wherein Q is2Is λ2,λ3,λ4,…,λMA column vector of M-1 dimension, Z is a square matrix of (M-1) × (M-1), E is a column vector of M-1 dimension:
Z(r,s)＝{S(Ω)[1-cos(rΩT)]+C(Ω)sin(rΩT)}·{S(Ω)[1-cos(sΩT)]+C(Ω)sin(sΩT)}
E(r)＝S(Ω){S(Ω)[1-cos(rΩT)]+C(Ω)sin(rΩT)}
wherein r is the number of rows r of the matrix Z and the column vector E is 0,1,2, …, M-1; s is the number of columns of the square matrix, s is 0,1,2, …, M-1; omega is a vibration main frequency point set by a user according to the working environment of the fiber-optic gyroscope, and S (omega) is sin [ gamma ]F(Ω)]，C(Ω)＝cos[γF(Ω)]，γF(Ω) is the phase delay of the phase compensated digital filter at the main frequency point Ω.
3. The method for updating the attitude of the fiber-optic gyroscope filtering signal without error according to claim 1, characterized in that: the process in the step 4 specifically comprises the following steps: using tkGyro output signal without phase delay at momentAnd tk+1Gyro output signal without phase delay at moment
Figure FDA0002234278130000022
Obtaining the angular velocity α of the rotation of the rotating coordinate system s relative to the motion of the carrier coordinate system bk+1Is composed of
Figure FDA0002234278130000023
Wherein omega is a vibration dominant frequency point, | H, set by a user according to the working environment of the fiber-optic gyroscopeF(omega) is the amplitude-frequency gain of the phase compensation digital filter at the main frequency point omega; sin for medical use-1(. -) represents the arcsine value of.i | represents the module value of.x represents the vector cross product.
4. The method for updating the attitude of the fiber-optic gyroscope filtering signal without error according to claim 1, characterized in that: step 5 said transformation matrix
Figure FDA0002234278130000024
The solving process is as follows: using t obtained in step 4k+1Angular velocity α of rotation of the movement of the time-of-day rotation coordinate system s relative to the carrier coordinate system bk+1Calculating to obtain tk+1Transformation matrix from time carrier coordinate system b to rotating coordinate system s
Figure FDA0002234278130000025
Figure FDA0002234278130000026
Wherein
Figure FDA0002234278130000027
Respectively represent αk+1The x, y, z axis components of (a).
5. The method for updating the attitude of the fiber-optic gyroscope filtering signal without error according to claim 1, characterized in that: step 6 said transformation matrix
Figure FDA0002234278130000028
The solving process is as follows: using tkGyro output signal without phase delay at moment
Figure FDA0002234278130000029
And t obtained in step 4k+1Angular velocity α of rotation of the movement of the time-of-day rotation coordinate system s relative to the carrier coordinate system bk+1Calculating to obtain tk+1Time of day rotating coordinate system s to tkTransformation matrix of time carrier coordinate system b
Figure FDA00022342781300000210
Figure FDA00022342781300000211
Wherein, | HF(omega) is the amplitude-frequency gain of the phase compensation digital filter at the main frequency point omega;
Figure FDA00022342781300000212
respectively represent αk+1The x, y, z axis components of (a).
6. The method for updating the attitude of the fiber-optic gyroscope filtering signal without error according to claim 1, characterized in that: step 7 said transformation matrixThe solving process is as follows: using t obtained in step 5k+1Transformation matrix from time carrier coordinate system b to rotating coordinate system s
Figure FDA0002234278130000032
And t obtained in step 6k+1Time of day rotating coordinate system s to tkTransformation matrix of time carrier coordinate system b
Figure FDA0002234278130000033
Calculating to obtain tk+1Time carrier coordinate system b to tkTransformation matrix of time carrier coordinate system b
Figure FDA0002234278130000034
Figure FDA0002234278130000035
CN201910978003.5A 2019-10-15 2019-10-15 Error-free attitude updating method suitable for fiber optic gyroscope filtering signal Active CN110763231B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910978003.5A CN110763231B (en) 2019-10-15 2019-10-15 Error-free attitude updating method suitable for fiber optic gyroscope filtering signal

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910978003.5A CN110763231B (en) 2019-10-15 2019-10-15 Error-free attitude updating method suitable for fiber optic gyroscope filtering signal

Publications (2)

Publication Number Publication Date
CN110763231A true CN110763231A (en) 2020-02-07
CN110763231B CN110763231B (en) 2022-11-18

Family

ID=69331257

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910978003.5A Active CN110763231B (en) 2019-10-15 2019-10-15 Error-free attitude updating method suitable for fiber optic gyroscope filtering signal

Country Status (1)

Country Link
CN (1) CN110763231B (en)

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4754280A (en) * 1982-09-10 1988-06-28 The Charles Stark Draper Laboratory, Inc. Attitude sensing system
US6456939B1 (en) * 2000-01-04 2002-09-24 Mccall Hiram Micro inertial measurement unit
CN101178313A (en) * 2007-12-03 2008-05-14 哈尔滨工程大学 Ground speed testing methods suitable for optical fibre gyroscope strap-down inertial navigation system
CN101696883A (en) * 2009-10-29 2010-04-21 哈尔滨工程大学 Damping method of fiber option gyroscope (FOG) strap-down inertial navigation system
CN102183264A (en) * 2011-01-14 2011-09-14 北京理工大学 Testing system and method for high-efficiency integrated optical fiber gyroscope
CN102494686A (en) * 2011-10-17 2012-06-13 北京国科环宇空间技术有限公司 Satellite attitude orbit determining system and method
CN102829781A (en) * 2012-08-29 2012-12-19 东南大学 Implementation method of rotation type strapdown optical-fiber compass
CN103712623A (en) * 2014-01-20 2014-04-09 东南大学 Optical-fiber gyroscope inertial navigation system attitude optimization method based on angular rate input
CN103900565A (en) * 2014-03-04 2014-07-02 哈尔滨工程大学 Method for obtaining inertial navigation system attitude based on DGPS (differential global positioning system)
CN105890593A (en) * 2016-04-06 2016-08-24 浙江大学 MEMS inertial navigation system and track reconstruction method based on same
CN109477900A (en) * 2016-03-18 2019-03-15 迪尔公司 Estimation in global navigational satellite system receiver for the frequency offset of ambiguity resolution
CN110319833A (en) * 2019-07-09 2019-10-11 哈尔滨工程大学 A kind of error-free fiber-optic gyroscope strapdown inertial navigation system speed update method

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4754280A (en) * 1982-09-10 1988-06-28 The Charles Stark Draper Laboratory, Inc. Attitude sensing system
US6456939B1 (en) * 2000-01-04 2002-09-24 Mccall Hiram Micro inertial measurement unit
CN101178313A (en) * 2007-12-03 2008-05-14 哈尔滨工程大学 Ground speed testing methods suitable for optical fibre gyroscope strap-down inertial navigation system
CN101696883A (en) * 2009-10-29 2010-04-21 哈尔滨工程大学 Damping method of fiber option gyroscope (FOG) strap-down inertial navigation system
CN102183264A (en) * 2011-01-14 2011-09-14 北京理工大学 Testing system and method for high-efficiency integrated optical fiber gyroscope
CN102494686A (en) * 2011-10-17 2012-06-13 北京国科环宇空间技术有限公司 Satellite attitude orbit determining system and method
CN102829781A (en) * 2012-08-29 2012-12-19 东南大学 Implementation method of rotation type strapdown optical-fiber compass
CN103712623A (en) * 2014-01-20 2014-04-09 东南大学 Optical-fiber gyroscope inertial navigation system attitude optimization method based on angular rate input
CN103900565A (en) * 2014-03-04 2014-07-02 哈尔滨工程大学 Method for obtaining inertial navigation system attitude based on DGPS (differential global positioning system)
CN109477900A (en) * 2016-03-18 2019-03-15 迪尔公司 Estimation in global navigational satellite system receiver for the frequency offset of ambiguity resolution
CN105890593A (en) * 2016-04-06 2016-08-24 浙江大学 MEMS inertial navigation system and track reconstruction method based on same
CN110319833A (en) * 2019-07-09 2019-10-11 哈尔滨工程大学 A kind of error-free fiber-optic gyroscope strapdown inertial navigation system speed update method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
魏洪伟: "基于旋转坐标系的姿态更新算法", 《中国优秀博硕士学位论文全文数据库(硕士) 信息科技辑》 *

Also Published As

Publication number Publication date
CN110763231B (en) 2022-11-18

Similar Documents

Publication Publication Date Title
CN111426318B (en) Low-cost AHRS course angle compensation method based on quaternion-extended Kalman filtering
CN103256928B (en) Distributed inertial navigation system and posture transfer alignment method thereof
CN106482734A (en) A kind of filtering method for IMU Fusion
CN109931957A (en) SINS self-alignment method for strapdown inertial navigation system based on LGMKF
CN113405563B (en) Inertial measurement unit alignment method
CN112630813A (en) Unmanned aerial vehicle attitude measurement method based on strapdown inertial navigation and Beidou satellite navigation system
CN108225325B (en) Polar region transverse navigation method based on virtual ball model
CN110851776B (en) Attitude calculation method for high-dynamic variable-speed carrier
CN108458709B (en) Airborne distributed POS data fusion method and device based on vision-aided measurement
CN108489485B (en) Error-free strapdown inertial navigation value updating method
CN114216456B (en) Attitude measurement method based on fusion of IMU and robot body parameters
CN112504298A (en) GNSS-assisted DVL error calibration method
CN111399530A (en) Small aircraft attack angle sliding mode tracking method based on inverse transfer function
CN110319833B (en) Error-free speed updating method for fiber optic gyroscope strapdown inertial navigation system
CN111121820B (en) MEMS inertial sensor array fusion method based on Kalman filtering
CN110763231B (en) Error-free attitude updating method suitable for fiber optic gyroscope filtering signal
CN112729332B (en) Alignment method based on rotation modulation
CN112033438B (en) Shaking base self-alignment method based on speed fitting
CN109029499A (en) A kind of accelerometer bias iteration optimizing estimation method based on gravity apparent motion model
CN110388942B (en) Vehicle-mounted posture fine alignment system based on angle and speed increment
CN113175943A (en) Strapdown inertial navigation heave measurement method adopting multiple low-pass filtering units
CN108416387A (en) Height filtering method based on GPS Yu barometer fused data
CN107741228A (en) A kind of SINS Attitude calculation method based on center of gravity Lagrange's interpolation
CN111220182A (en) Rocket transfer alignment method and system
CN112833918B (en) High-rotation body micro inertial navigation aerial alignment method and device based on function iteration

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20230629

Address after: 210042 Xuanwu Road, Xuanwu District, Nanjing, Jiangsu 699-1

Patentee after: NANJING XINDONGTAI INFORMATION TECHNOLOGY CO.,LTD.

Address before: 150001 Intellectual Property Office, Harbin Engineering University science and technology office, 145 Nantong Avenue, Nangang District, Harbin, Heilongjiang

Patentee before: HARBIN ENGINEERING University

TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20230726

Address after: 150000 floor 2, East unit 22, Tianping Road, building 2D, dui'e Park, Yingbin Road concentration area, high tech Industrial Development Zone, Harbin, Heilongjiang Province

Patentee after: HARBIN HATRAN NAVIGATION TECHNOLOGY Co.,Ltd.

Address before: 210042 Xuanwu Road, Xuanwu District, Nanjing, Jiangsu 699-1

Patentee before: NANJING XINDONGTAI INFORMATION TECHNOLOGY CO.,LTD.

TR01 Transfer of patent right