CN101178313A - Ground speed testing methods suitable for optical fibre gyroscope strap-down inertial navigation system - Google Patents

Abstract

A ground speed detecting method suitable for fiber top strap-down inertial navigation system relates to a rowing compensation process which solves the problem that the rowing effect brings influence to the ground speed detecting in a high dynamic environment or a high frequency bration environment. The invention respectively acquires the speed measuring increment and angle increment measured value of a carrier opposite to an inertial frame by a specific force signal and a palstance signal during the refresh cycle of the ground speed, and then acquires the speed rotating term; the speed increment of the carrier in the refresh cycle opposite to the inertial frame is calculated by the speed rotating term and the rowing compensation term and then the speed increment acquired is projected to a n frame of the inertial frame; the speed increment caused by the acceleration of gravity and the corriolis acceleration is calculated in the n frame of the inertial frame and finally the ground value is got by a basic equation calculation of the inertial navigation system. The invention is suitable for that the carrier is under a high frequency bration or high mobile situation.

Description

The ground speed testing methods that is suitable for fiber optic gyro strapdown inertial navigation system

Technical field

The present invention relates to a kind of ground speed testing methods of fiber optic gyro strapdown inertial navigation system.

Background technology

In strapdown inertial navigation system, comprise the calculating of two class keys.One is exactly the calculating of upgrading attitude of carrier, and another then is the more calculating of new support ground velocity (navigation coordinate is that n is the velocity amplitude of spherical coordinate system relatively).In posture renewal calculates,, will introduce coning error if there is the situation of carrier angular velocity vector rotation.In the calculating of new support ground velocity more, situation is just more complicated, because, obtain the ground velocity information of carrier, just need in the navigation reference frame, carry out integration by the contrast force signal, this integral process carries out usually in two steps: at first be to be transformed in the navigation reference frame connecting firmly in the ratio force signal of the accelerometer sensitive that carrier is fastened attitude direction cosine matrix or the hypercomplex number with this moment, the contrast force signal carries out integration in the navigation reference frame then.Because the accelerometer in the strapdown inertial navigation system is directly to connect firmly on carrier, experienced the attitude angle motion of carrier, so, if the situation that has the rotation of carrier angular velocity vector or rotate than force vector, or the big or small inconstant situation of specific force and angular velocity, the constant value drift integral of noncommutativity error is introduced in the capital, speed that Here it is the effect of rowing the boat.If not only variation has taken place in the size and Orientation than force signal in the ground velocity testing process, and variation has also taken place in the size and Orientation of attitude angular velocity, then this process is with the introducing effect errors of rowing the boat, this makes two steps finishing the specific force integration in high quality become very difficult, to finish the specific force integration of strapdown inertial navigation system in high quality, just need high-precision accelerometer and high performance ground speed testing methods, and high-precision accelerometer needs high-caliber manufacturing process that its cost is increased, want under the prerequisite of the ground velocity accuracy of detection that improves strapdown inertial navigation system, also do not increase system cost, just need to eliminate the error of rowing the boat to the influence that ground velocity detects as far as possible, promptly add effective sculling compensation method.

For traditional sculling compensation method, thinking is to utilize angle increment, speed increment to simulate the error of rowing the boat in the ground velocity testing process, and this is to be based upon on the basis that traditional inertial sensor is output as angle increment, speed increment, and classic method can directly be used.But for present widely used optical fiber gyroscope strapping system, optical fibre gyro is output as angular velocity, quartz accelerometer is output as specific force, and the angle increment used in classic method and speed increment can not directly be obtained, and the practicality of classic method goes wrong.Obtain angle increment by angular velocity, specific force acquisition speed increment can be taked the Simpson's integration in the numerical analysis, its essence is angular velocity and specific force are carried out piece-wise linearization, this processing mode is only enough short in the sampling period, and angular velocity, changes than force vector and just can use when slow.In high dynamic environment or dither environment, integral process makes traditional sculling compensation algorithm deviation occur for the calculating of sculling compensation item, and the coefficient of promptly traditional sculling compensation method no longer is optimum when angular velocity, specific force input.And present widely used second order Long Gekuda (Lgkd) method can directly be utilized and carries out ground velocity than force information and detect, but does not have compensation effect for the error of rowing the boat.In high dynamic environment or in the dither environment, the effect of rowing the boat will have a strong impact on the precision that ground velocity detects.

Summary of the invention

In order to solve in high dynamic environment or high-frequency vibration environment, the effect of rowing the boat the invention provides a kind of ground speed testing methods that is suitable for fiber optic gyro strapdown inertial navigation system to the problem that system's ground velocity accuracy of detection exerts an influence.

Be suitable for the ground speed testing methods of fiber optic gyro strapdown inertial navigation system, concrete steps are as follows:

Step 1, determine the location parameter of carrier and initial ground velocity value by external unit;

Step 2, strapdown inertial navigation system carry out initial alignment, determine that carrier is the initial attitude of n system with respect to navigation coordinate;

Step 3, determine the ground velocity update cycle H=t of strapdown inertial navigation system _m-t _M-1, described ground velocity update cycle H equals the sculling compensation cycle; It is the N inertial sensor sampling period doubly that H is set, and described N is the integer greater than 0;

Step 4, gather the angular velocity signal ω than force signal f and optical fibre gyro output of quartz accelerometer output respectively, calculate and obtain the projection Δ v that carrier is fastened at carrier coordinate system b with respect to the speed increment of inertial coordinates system _Sm ^b

Step 5, can obtain the strapdown attitude matrix C in the initial moment of ground velocity update cycle H by the posture renewal algorithm _b ⁿ, pass through C _b ⁿThe projection Δ v that the carrier that step 4 is obtained is fastened at carrier coordinate system b with respect to the speed increment of inertial coordinates system _Sm ^bBeing transformed into navigation coordinate is that the projection that n fastens obtains Δ v _Sm ⁿ

Step 6, be that n fastens at navigation coordinate, the speed increment Δ v that acceleration of gravity and Corioli's acceleration cause in the Computed Ground Speed update cycle H _G/Corm ⁿ

Step 7, according to the fundamental equation of inertial navigation system, the carrier that is obtained by step 5 is the projection Δ v that n fastens with respect to the speed increment of inertial coordinates system at navigation coordinate _Sm ⁿThe speed increment Δ v that acceleration of gravity that obtains with step 6 and Corioli's acceleration cause _G/Corm ⁿ, calculate in the ground velocity update cycle H navigation coordinate and be n and be the speed increment of spherical coordinate system relatively;

Navigation coordinate is that n is the ground velocity value addition of speed increment and the ground velocity update cycle H initial time of spherical coordinate system relatively in step 8, the ground velocity update cycle H that step 7 is obtained, upgrades obtaining the ground velocity value v that H stops the moment _m ⁿ

In the described step 4, the process of calculating the speed that obtains carrier relative inertness coordinate system is:

Step 4 one: in ground velocity update cycle H, the ratio force signal f integration of the quartz accelerometer that collects output is obtained in the ground velocity update cycle H carrier with respect to the velocity survey increment v of inertial coordinates system _m

Step 4 two: in ground velocity update cycle H, the angular velocity signal ω integration of the optical fibre gyro that collects output is obtained in the ground velocity update cycle H carrier with respect to the angle increment measured value θ of inertial coordinates system _m

Step 4 three: measure θ by angle increment _mWith velocity survey increment v _mObtain the speed rotation Δ v in the ground velocity update cycle H _Rotm

Step 4 four: the multiplication cross item with N+1 optical fibre gyro in the ground velocity update cycle H and quartz accelerometer sampled value fits sculling compensation item Δ v _Scul

Step 4 five: with the velocity survey increment v of step 4 one acquisition _m, the speed rotation Δ v that obtains of step 4 three _Rotm, the sculling compensation item Δ v that obtains of step 4 four _SculAddition obtains the projection Δ v that carrier is fastened at carrier coordinate system b with respect to the speed of inertial coordinates system in the ground velocity update cycle H _Sm ^b

The ground speed testing methods that is suitable for fiber optic gyro strapdown inertial navigation system of the present invention has the following advantages:

One, method of the present invention is as input quantity with angular velocity, specific force, be the output that directly utilizes optical fibre gyro and quartz accelerometer, the differential equation of representing ground velocity with angular velocity, specific force, with the multiplication cross item match of angular speed and the specific force error term of rowing the boat, and then eliminate the influence that the effect of rowing the boat is upgraded ground velocity.

Two, method of the present invention has avoided using traditional sculling compensation method at angular velocity, specific force during as input, and integral error is compensated the error of rowing the boat in dither and the high dynamic environment again for the influence of sculling compensation item.

Three, method of the present invention has improved the ground velocity output accuracy of strapdown inertial navigation system effectively under the situation that does not increase system cost.

Four, method of the present invention adopts every N sampling period to calculate a ground velocity increment, ground speed testing methods with respect to traditional employing second order Long Gekudafa, when improving precision, the renewal frequency of its ground velocity is reduced to original 1/N, be that calculated rate is reduced to original 1/N, thereby reduced the calculated amount of navigational computer, saved the limited resources of navigational computer.

Method of the present invention is particularly suitable for carrier and is in dither or high motor-driven situation.

Description of drawings

Fig. 1 is a process flow diagram of the present invention.

Fig. 2 is by obtaining the process flow diagram of carrier with respect to the speed increment of inertial coordinates system than force signal and angular velocity signal in the step 4.

Fig. 3 rows the boat for the typical case in the environment, the velocity error simulation curve that adopts method of the present invention, traditional sculling compensation method and second order Long Gekudafa to obtain respectively.Row the boat two orthogonal axes that environment is defined as carrier of typical case exist with frequently and synchronous angular oscillation and line vibration.The sample frequency of optical fibre gyro and quartz accelerometer is 100Hz.

Embodiment

The described ground speed testing methods that is suitable for fiber optic gyro strapdown inertial navigation system of present embodiment, concrete steps are as follows:

Step 1, determine the location parameter of carrier and initial ground velocity value by external unit;

Step 2, strapdown inertial navigation system carry out initial alignment, determine that carrier is the initial attitude of n system with respect to navigation coordinate;

Step 3, determine ground velocity update cycle H=t _m-t _M-1, described ground velocity update cycle H equals the sculling compensation cycle; It is the N inertial sensor sampling period doubly that H is set, and described N is the integer greater than 0;

Step 4, gather the angular velocity signal ω than force signal f and optical fibre gyro output of quartz accelerometer output respectively, calculate and obtain the projection Δ v that carrier is fastened at carrier coordinate system b with respect to the speed increment of inertial coordinates system _Sm ^b

Step 5, can obtain the strapdown attitude matrix C in the initial moment of ground velocity update cycle H by the posture renewal algorithm _b ⁿ, pass through C _b ⁿThe projection Δ v that the carrier that obtains in the step 4 is fastened at carrier coordinate system b with respect to the speed increment of inertial coordinates system _Sm ⁿBeing transformed into navigation coordinate is that the projection that n fastens obtains Δ v _Sm ⁿ

Step 6, be that n fastens at navigation coordinate, the speed increment Δ v that acceleration of gravity and Corioli's acceleration cause in the Computed Ground Speed update cycle H _G/Corm ⁿ

Step 7, according to the fundamental equation of inertial navigation system, the carrier that is obtained by step 5 is the projection Δ v that n fastens with respect to the speed increment of inertial coordinates system at navigation coordinate _Sm ⁿThe speed increment Δ v that acceleration of gravity that obtains with step 6 and Corioli's acceleration cause _G/Corm ⁿ, calculate in the ground velocity update cycle H navigation coordinate and be n and be the speed increment of spherical coordinate system relatively;

Navigation coordinate is that n is the ground velocity value addition of speed increment and the ground velocity update cycle H initial time of spherical coordinate system relatively in step 8, the ground velocity update cycle H that step 7 is obtained, upgrades obtaining the ground velocity value v that H stops the moment _m ⁿ

Calculating in the described step 4 obtain carrier with respect to the process of the speed of inertial coordinates system referring to shown in Figure 2, concrete steps are:

Step 4 two: in ground velocity update cycle H, the ratio force signal f integration of the quartz accelerometer that collects output is obtained in the ground velocity update cycle H carrier with respect to the velocity survey increment v of inertial coordinates system _m

Step 4 three: in ground velocity update cycle H, the angular velocity signal ω integration of the optical fibre gyro that collects output is obtained in the ground velocity update cycle H carrier with respect to the angle increment measured value θ of inertial coordinates system _m

Step 4 four: measure θ by angle increment _mWith velocity survey increment v _mObtain the speed rotation Δ v in the ground velocity update cycle H _Rotm

Step 4 five: in the ground velocity update cycle H, fit the sculling compensation item with the multiplication cross item of N+1 optical fibre gyro and quartz accelerometer sampled value;

Step 4 six: with the velocity survey increment v of step 4 one acquisition _m, the speed rotation Δ v that obtains of step 4 three _Rotm, the sculling compensation item Δ v that obtains of step 4 four _SculAddition obtains the interior carrier of Computed Ground Speed update cycle H with respect to the speed of inertial coordinates system and the projection Δ v that fastens at carrier coordinate system b thereof _Sm ^b

Location parameter at the carrier described in the step 1 is provided by GPS device or outside high-precision integrated navigation equipment, and the initial velocity of described carrier is provided by DVL Doppler log or outside high-precision integrated navigation equipment.

In step 4 one,, quartz accelerometer output obtains velocity survey increment v by being carried out integration than force signal f _m:

$v_m={\∫}_{t_{m-1}}^{t_m}\mathrm{fdt}.---\left(1\right)$

In step 4 two, carry out integration by angular velocity signal ω and obtain measured angular increment θ optical fibre gyro output _m:

${\mathrm{\θ}}_m={\∫}_{t_{m-1}}^{t_m}\mathrm{\ωdt}.---\left(2\right)$

At the rotation of the speed described in the step 4 three a Δ v _RotmBe speed rotation effect compensation rate, by velocity survey increment v _mWith measured angular increment θ _mObtain:

$\mathrm{\Δ}{v}_{{\mathrm{rot}}_m}=\frac{1}{2}{\mathrm{\θ}}_m\×v_m=\frac{1}{2}{\∫}_{t_{m-1}}^{t_m}\mathrm{\ωdt}\×{\∫}_{t_{m-1}}^{t_m}\mathrm{fdt}.---\left(3\right)$

At the sculling compensation item Δ v described in the step 4 four _SculmBeing the dynamic integral item, is that non-inertia can be surveyed item, and the angular velocity signal ω than force signal f and optical fibre gyro output obtains by the quartz accelerometer output that collects:

The projection Δ v that fastens at carrier coordinate system b with respect to the speed increment of inertial coordinates system at the carrier described in the step 4 five _Sm ^bBe to cause, obtain by the result of step 4 one, step 4 three and step 4 four by the specific force acceleration:

$\Delta v_{S_m}^b=v_m+\Delta v_{{\mathrm{rot}}_m}+\Delta v_{{\mathrm{scul}}_m.}---\left(5\right)$

At the standard testing input environment of sculling compensation method, during promptly the typical case rowed the boat environment, numerical integration error was to the velocity survey increment v of carrier with respect to the inertia system coordinate _mWith a speed rotation Δ v _RotmCalculating do not produce accumulated error, only can cause sculling compensation item Δ v _SculmDrift error, for fear of the generation of drift error, at sculling compensation item Δ v _SculmComputing formula in use the multiplication cross item of angular velocity omega and specific force f to fit calculating.

For example: in the time of H=2h, sample 3 optical fibre gyros and quartz accelerometer output valve, sculling compensation item Δ v _SculmDiscrete calculation be

$\mathrm{\Δ}{\hat{V}}_{\mathrm{scu}}=h^2[\frac{51}{80}\mathrm{\ω}\left(1\right)+\frac{39}{40}\mathrm{\ω}\left(2\right)]\×f\left(3\right)+h^2[\frac{51}{80}f\left(1\right)+\frac{39}{40}f\left(2\right)]\×\mathrm{\ω}\left(3\right),---\left(6\right)$

In the time of H=3h, sample 4 optical fibre gyros and quartz accelerometer output valve, Δ v _SculmDiscrete calculation be

$\Delta {\hat{V}}_{\mathrm{scu}}=h^2[\frac{232}{315}\omega \left(1\right)+\frac{136}{315}\omega \left(2\right)+\frac{712}{315}\omega \left(3\right)]\times f\left(4\right)$

$+h^2[\frac{232}{315}f\left(1\right)+\frac{136}{315}f\left(2\right)+\frac{712}{315}f\left(3\right)]\×\mathrm{\ω}\left(4\right)---\left(7\right)$

In ground velocity update cycle H, the employed inertial sensor hits of sculling compensation method is many more, and the output accuracy of sculling compensation method is just high more.

In step 5, according to described strapdown Matrix C _b ⁿCan obtain by posture renewal, utilize C _b ⁿIt is to obtain Δ v in the n system that the carrier that obtains in the step 4 is transformed into navigation coordinate with respect to the speed increment of inertial coordinates system _Sm ⁿFor:

$\mathrm{\Δ}{v}_{S_m}^n=C_b^n\mathrm{\Δ}{v}_{S_m}^b.---\left(8\right)$

The speed increment Δ v that acceleration of gravity and Corioli's acceleration cause in step 6 _G/Corm ⁿFor

$\mathrm{\Δ}{v}_{{G/\mathrm{Cor}}_m}^n={\∫}_{t_{m-1}}^{t_m}[g_P^n-({\mathrm{\ω}}_{\mathrm{en}}^n+2{\mathrm{\ω}}_{\mathrm{ie}}^n)\×v^n]\mathrm{dt},---\left(9\right)$

G wherein _P ⁿBe gravity, ω _En ⁿBe position angle speed, ω _Ie ⁿBe earth rate.Latitude has only small variation in ground velocity update cycle H, and the variable quantity of position angle speed and earth rate all is in a small amount, so being carried out discrete digital, their mean value substitutions in ground velocity update cycle H calculate,

$\mathrm{\Δ}{v}_{{G/\mathrm{Cor}}_m}^n=\mathrm{\Δ}{v}_{{G/\mathrm{Cor}}_{m-1}}^n+[\stackrel{\‾}{g_P^n}-(2\stackrel{\‾}{{\mathrm{\ω}}_{\mathrm{ie}}^n}+\stackrel{\‾}{{\mathrm{\ω}}_{\mathrm{en}}^n})\×\stackrel{\‾}{v^n}]H---\left(10\right)$

Wherein $\stackrel{\‾}{g_P^n}=\frac{1}{2}(g_{m-1}+g_m),\stackrel{\‾}{{\mathrm{\ω}}_{\mathrm{ie}}^n}=\frac{1}{2}({\mathrm{\ω}}_{{\mathrm{ie}}_{m-1}}+{\mathrm{\ω}}_{{\mathrm{ie}}_m}),\stackrel{\‾}{{\mathrm{\ω}}_{\mathrm{en}}^n}=\frac{1}{2}({\mathrm{\ω}}_{{\mathrm{en}}_{m-1}}+{\mathrm{\ω}}_{{\mathrm{en}}_m}),\stackrel{\‾}{v^n}=\frac{1}{2}(v_{m-1}+v_m).$

In step 8, choosing geographic coordinate system is n system as navigation coordinate, and by the fundamental equation of inertial navigation system, the ground velocity rate of change is:

${\stackrel{\·}{v}}^n=C_b^n{f}^b+g_P^n-({\mathrm{\ω}}_{\mathrm{en}}^n+2{\mathrm{\ω}}_{\mathrm{ie}}^n)\×v^n---\left(11\right)$

In the navigational computer, the ground velocity recursion that disperses is calculated

$v_m^n=v_{m-1}^n+\mathrm{\Δ}{v}_{S_m}^n+\mathrm{\Δ}{v}_{{G/\mathrm{Cor}}_m}^n---\left(12\right)$

Obtain the ground velocity value that the ground velocity update cycle stops the moment, finish the renewal of ground velocity.

The initial value v of ground velocity wherein _M-1 ⁿProvide by last ground velocity update cycle calculating; Carrier is the projection Δ v of n system at navigation coordinate with respect to the speed of inertial coordinates system _Sm ⁿObtain by step 5.

Claims (7)

1. be suitable for the ground speed testing methods of fiber optic gyro strapdown inertial navigation system, concrete steps are as follows:

Step 1, determine the location parameter of carrier and initial ground velocity value by external unit;

Step 2, strapdown inertial navigation system carry out initial alignment, determine that carrier is the initial attitude of n system with respect to navigation coordinate;

Step 3, determine ground velocity update cycle H=t _m-t _M-1, described ground velocity update cycle H equals the sculling compensation cycle; It is the N inertial sensor sampling period doubly that H is set, and described N is the integer greater than 0;

Step 4, gather the angular velocity signal ω than force signal f and optical fibre gyro output of quartz accelerometer output respectively, calculate and obtain the projection Δ v that carrier is fastened at carrier coordinate system b with respect to the speed increment of inertial coordinates system _Sm ^b

Step 5, can obtain the strapdown attitude matrix C in the initial moment of ground velocity update cycle H by the posture renewal algorithm _b ⁿ, pass through C _b ⁿThe projection Δ v that the carrier that step 4 is obtained is fastened at carrier coordinate system b with respect to the speed increment of inertial coordinates system _Sm ⁿBeing transformed into navigation coordinate is that the projection that n fastens obtains Δ v _Sm ⁿ

Step 6, be that n fastens at navigation coordinate, the speed increment Δ v that acceleration of gravity and Corioli's acceleration cause in the Computed Ground Speed update cycle H _G/Corm ⁿ

Step 7, according to the fundamental equation of inertial navigation system, the carrier that is obtained by step 5 is the projection Δ v that n fastens with respect to the speed increment of inertial coordinates system at navigation coordinate _Sm ⁿThe speed increment Δ v that acceleration of gravity that obtains with step 6 and Corioli's acceleration cause _G/Corm ⁿ, navigation coordinate is that n is the speed increment of spherical coordinate system relatively in the Computed Ground Speed update cycle H;

Navigation coordinate is that n is the ground velocity value addition of speed increment and the ground velocity update cycle H initial time of spherical coordinate system relatively in step 8, the ground velocity update cycle H that step 7 is obtained, upgrades obtaining the ground velocity value v that ground velocity update cycle H stops the moment _m ⁿ,

It is characterized in that the calculating acquisition carrier in the described step 4 with respect to the process of the speed of inertial coordinates system is:

Step 4 one: in ground velocity update cycle H, the ratio force signal f integration of the quartz accelerometer that collects output is obtained in the ground velocity update cycle H carrier with respect to the velocity survey increment v of inertial coordinates system _m

Step 4 two: in ground velocity update cycle H, the angular velocity signal ω integration of the optical fibre gyro that collects output is obtained in the ground velocity update cycle H carrier with respect to the angle increment measured value θ of inertial coordinates system _m

Step 4 three: measure θ by angle increment _mWith velocity survey increment v _mObtain the speed rotation Δ v in the ground velocity update cycle H _Rotm

Step 4 four: in the ground velocity update cycle H, fit the sculling compensation item with the multiplication cross item of N+1 optical fibre gyro and quartz accelerometer sampled value;

Step 4 five: with the velocity survey increment v of step 4 one acquisition _m, the speed rotation Δ v that obtains of step 4 three _Rotm, the sculling compensation item Δ v that obtains of step 4 four _SculAddition obtains the interior carrier of Computed Ground Speed update cycle H with respect to the speed of inertial coordinates system and the projection Δ v that fastens at carrier coordinate system b thereof _Sm ^b

2. the ground speed testing methods that is suitable for fiber optic gyro strapdown inertial navigation system according to claim 1, it is characterized in that, location parameter at the carrier described in the step 1 is provided by GPS device or outside high-precision integrated navigation equipment, and the initial velocity of described carrier is provided by DVL Doppler log or outside high-precision integrated navigation equipment.

3. according to the described ground speed testing methods that is suitable for fiber optic gyro strapdown inertial navigation system of claim l, it is characterized in that, at the rotation of the speed described in the step 4 three a Δ v _RotmBe speed rotation effect compensation rate, by velocity survey increment v _mWith measured angular increment θ _mObtain: $\Delta v_{{\mathrm{rot}}_m}=\frac{1}{2}{\theta }_m\times v_m=\frac{1}{2}{\int }_{t_{m-1}}^{t_m}\mathrm{\omega dt}\times {\int }_{t_{m-1}}^{t_m}\mathrm{fdt}.$

4. the ground speed testing methods that is suitable for fiber optic gyro strapdown inertial navigation system according to claim 1 is characterized in that, at the sculling compensation item Δ v described in the step 4 four _SculmBeing the dynamic integral item, is that non-inertia can be surveyed item, and the angular velocity signal ω than force signal f and optical fibre gyro output obtains by the quartz accelerometer output that collects:

5. the ground speed testing methods that is suitable for fiber optic gyro strapdown inertial navigation system according to claim 1 is characterized in that, the projection Δ v that fastens at carrier coordinate system b with respect to the speed increment of inertial coordinates system at the carrier described in the step 4 five _Sm ^bBe to cause, obtain by the result of step 4 one, step 4 three and step 4 four by the specific force acceleration: $\mathrm{\Δ}{v}_{S_m}^b=v_m+\mathrm{\Δ}{v}_{{\mathrm{rot}}_m}+\mathrm{\Δ}{v}_{{\mathrm{scul}}_m}.$

6. the ground speed testing methods that is suitable for fiber optic gyro strapdown inertial navigation system according to claim 1 is characterized in that, the speed increment Δ v that acceleration of gravity and Corioli's acceleration cause in step 6 _G/Corm ⁿFor $\mathrm{\Δ}{v}_{{G/\mathrm{Cor}}_m}^n={\∫}_{t_{m-1}}^{t_m}[g_P^n-({\mathrm{\ω}}_{\mathrm{en}}^n+2{\mathrm{\ω}}_{\mathrm{ie}}^n)\×v^n]\mathrm{dt},$ G wherein _P ⁿBe gravity, ω _En ⁿBe position angle speed, ω _Ie ⁿBe earth rate, in ground velocity update cycle H, calculate acquisition by discrete digital

$\mathrm{\Δ}{v}_{{G/\mathrm{Cor}}_m}^n=\mathrm{\Δ}{v}_{{G/\mathrm{Cor}}_{m-1}}^n+[\stackrel{\‾}{g_P^n}-(2\stackrel{\‾}{{\mathrm{\ω}}_{\mathrm{ie}}^n}+\stackrel{\‾}{{\mathrm{\ω}}_{\mathrm{en}}^n})\×\stackrel{\‾}{v^n}]H,$ Wherein $\stackrel{\‾}{g_P^n}=\frac{1}{2}(g_{m-1}+g_m),\stackrel{\‾}{{\mathrm{\ω}}_{\mathrm{ie}}^n}=\frac{1}{2}({\mathrm{\ω}}_{{\mathrm{ie}}_{m-1}}+{\mathrm{\ω}}_{{\mathrm{ie}}_m}),$

$\stackrel{\‾}{{\mathrm{\ω}}_{\mathrm{en}}^n}=\frac{1}{2}({\mathrm{\ω}}_{{\mathrm{en}}_{m-1}}+{\mathrm{\ω}}_{{\mathrm{en}}_m}),\stackrel{\‾}{v^n}=\frac{1}{2}(v_{m-1}+v_m).$

7. the ground speed testing methods that is suitable for fiber optic gyro strapdown inertial navigation system according to claim 1, it is characterized in that in step 8, choosing geographic coordinate system is n system as navigation coordinate, by the fundamental equation of inertial navigation system, the rate of change of ground velocity is: ${\stackrel{\·}{v}}^n=C_b^n{f}^b+g_P^n-({\mathrm{\ω}}_{\mathrm{en}}^n+2{\mathrm{\ω}}_{\mathrm{ie}}^n)\×v^n,$ In the navigational computer,, obtain ground velocity value v to the ground velocity recursion that disperses _m ⁿFor $v_m^n=v_{m-1}^n+\mathrm{\Δ}{v}_{S_m}^n+\mathrm{\Δ}{v}_{{G/\mathrm{Cor}}_m}^n.$

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