CN108387229A - A kind of MEMS inertial navigation systems and north finding method based on single-shaft-rotation modulation - Google Patents
A kind of MEMS inertial navigation systems and north finding method based on single-shaft-rotation modulation Download PDFInfo
- Publication number
- CN108387229A CN108387229A CN201810088251.8A CN201810088251A CN108387229A CN 108387229 A CN108387229 A CN 108387229A CN 201810088251 A CN201810088251 A CN 201810088251A CN 108387229 A CN108387229 A CN 108387229A
- Authority
- CN
- China
- Prior art keywords
- shaft
- mems
- axis
- turntable
- rotation modulation
- 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.)
- Pending
Links
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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses a kind of MEMS inertial navigation systems and north finding method based on single-shaft-rotation modulation, the system include outline border, MIMU, turntable, intermediate plate, motor and encoder, and turntable is arranged inside the outline border；MIMU is arranged in the turntable top, and intermediate plate is arranged in lower part；Through-hole is arranged in the intermediate plate, for fixing motor；The machine shaft is connect across through-hole with turntable, and encoder, corner and rotating speed for detecting motor is arranged in motor lower portion.When seeking north, first acquire x, y-axis MEMS gyro output signal, determine noise profile situation；Then according to noise profile situation, the angular velocity of rotation of single-shaft-rotation modulation mechanism is determined；X, the output of y-axis MEMS gyro, carry out FFT transform after finally acquisition modulation, and northern value is sought in determination.The present invention can be carried out using MEMS inertia systems it is autonomous, quickly, accurately seek north.
Description
Technical field
The present invention relates to inertial navigation technologies, and in particular to a kind of MEMS inertial navigation systems based on single-shaft-rotation modulation
And its north finding method.
Background technology
MEMS inertia devices have the characteristics that of low cost, reliability is high, volume weight is light, are convenient for exploitation, extensive use
In navigation system.MEMS inertial navigation systems independently obtain carrier entire motion information when being navigated, it is thus necessary to determine that carrier
Direction axis and geographical north direction, to provide the course angle of system initial alignment process.But the system is under static condition,
North finding precision is relatively low, or even cannot seek north.The prior art usually one sensor for being capable of providing absolute course of addition, such as
GPS, Magnetic Sensor, to solve system Initial Alignment.This method reduces system due to increasing new sensor
Independence needs to carry out data fusion in resolved data, and computation complexity is high, and it is long to seek the northern time.
Invention content
The MEMS inertial navigation systems based on single-shaft-rotation modulation that the purpose of the present invention is to provide a kind of and its seek the north
Method, can be carried out using MEMS inertia systems it is autonomous, quickly, accurately seek north.
Realize that the technical solution of the object of the invention is：MEMS inertial navigation systems based on single-shaft-rotation modulation, packet
Outline border, MIMU and single-shaft-rotation modulation mechanism are included, the single-shaft-rotation modulation mechanism includes turntable, intermediate plate, motor and coding
Turntable is arranged in device, the outline border inside, and MIMU is arranged in the turntable top, and intermediate plate is arranged in lower section；The intermediate plate setting is logical
Hole, for fixing motor；The machine shaft is connect across through-hole with turntable, encoder is arranged in motor lower portion, for detecting
The corner and rotating speed of motor.
The north finding method of MEMS inertial navigation systems based on single-shaft-rotation modulation, includes the following steps：
MEMS inertial navigation systems based on single-shaft-rotation modulation are mounted on static carrier by step 1, acquire x, y
The output signal of axis MEMS gyro analyzes the noise profile situation of output signal；
Step 2, according to noise profile situation, determine the angular velocity of rotation ω of single-shaft-rotation modulation mechanism, make to be modulated
The frequency of effective output signal of MEMS gyro is far from main noise frequency range；
Step 3, control single-shaft-rotation modulation mechanism make turntable be the continuously and smoothly that angular speed is ω around z-axis and rotate, by x,
The earth rate signal modulation of y-axis MEMS gyro sensitivity is the sine wave useful signal of ω at frequency, while acquiring x, y-axis
MEMS gyro Output speed
Step 4, to MEMS gyro Output speedCarry out FFT transform, the sine wave useful signal that extraction frequency is ω
Phase, that is, seek northern value.
Compared with prior art, the present invention its remarkable advantage is：1) present invention increases single-shaft-rotation modulation mechanism, Ke Yili
With MEMS inertia systems carry out it is autonomous, quickly, accurately seek north, further to extend MEMS inertia systems navigation time and raising is led
Boat precision is laid a good foundation；2) noise when present invention to seeking north every time is analyzed in real time, improves north finding precision.
Description of the drawings
Fig. 1 is the structure diagram of the MEMS inertial navigation systems the present invention is based on single-shaft-rotation modulation.
Fig. 2 is that the present invention is based on the method flow diagrams that the MEMS inertial navigation systems of single-shaft-rotation modulation seek north.
Fig. 3 is the quiet output signal diagram for adopting 2 minutes y-axis gyros.
Fig. 4 is the spectrogram done to the quiet data adopted after fft analysis.
Fig. 5 is that horizontality rotation modulation seeks northern schematic diagram.
Fig. 6 is the output signal diagram of y-axis gyro sensor after modulation.
Fig. 7 is spectrogram of the signal after fft analysis after modulation.
Specific implementation mode
In the following with reference to the drawings and specific embodiments, scheme is further illustrated the present invention.
As shown in Figure 1, the MEMS inertial navigation systems based on single-shaft-rotation modulation, including outline border 1, MIMU 2, turntable 3,
Turntable 3 is arranged in intermediate plate 4, motor 5 and encoder 6, wherein 1 inside of outline border, and MIMU 2 is arranged in 3 top of the turntable, and lower section is set
Set intermediate plate 4；Through-hole is arranged in the intermediate plate 4, for fixing motor 5；5 shaft of the motor passes through through-hole, passes through with turntable 3
It is bolted, encoder 6, corner and rotating speed for detecting motor is set in motor lower portion.
As shown in Fig. 2, the north finding method of above system, steps are as follows：
MEMS inertial navigation systems based on single-shaft-rotation modulation are mounted on static carrier by step 1, make MEMS tops
Before spiral shell y-axis refers to, x-axis refers to the right side.Then acquire x, y-axis MEMS gyro output signal 1~2 minute.Ultimate analysis output signal
Noise profile situation, signal analysis of the present invention use FFT methods.FFT is the fast algorithm of Discrete Fourier Transform, can be incited somebody to action
One time-domain signal transforms to frequency domain.Assuming that sample frequency is Fs, signal frequency F, sampling number N, then result after FFT
As soon as being exactly the plural number for being N points, each point corresponds to a Frequency point, and first point indicates DC component (i.e. 0Hz), and
(actually this point is not present next one point of the last one point N, and the N+1 point assumed that here can also be seen
It is that first point minute is done two half points to do, the other half is moved on to finally) then indicate sample frequency Fs, it is averaged by N-1 point among this
It is divided into N equal portions, the frequency each put successively increases.The modulus value of these points, is exactly the amplitude characteristic under the frequency values, and original
The relationship of signal amplitude is：Assuming that the peak value of original signal is A, then first point of the result of FFT is exactly DC component, it
Modulus value be N times of DC component, modulus value of remaining point is exactly N/2 times of A.The phase each put, exactly under the frequency
The phase of signal.
Step 2, according to noise profile situation, determine the angular velocity of rotation ω of single-shaft-rotation modulation mechanism, make to be modulated
Frequency range of the frequency of effective output signal of MEMS gyro as possible far from MEMS gyro main noise.
Step 3, control rotation modulation mechanism make turntable be the continuously and smoothly that angular speed is ω around z-axis and rotate, by x, y-axis
The earth rate signal modulation of MEMS gyro sensitivity is the sine wave useful signal of ω at frequency, while acquiring x, y-axis MEMS
Gyro output angle speed
In order to verify x, y-axis MEMS gyro Output speedIt can carry out seeking northern measurement, that is, verify rotation modulation and seek north
Basic principle has carried out following derivation.
The transformation matrix of navigational coordinate system (n systems) is arrived by terrestrial coordinate system (e systems)Navigational coordinate system (n systems), which arrives, to be carried
The transformation matrix of body coordinate system (b systems)Carrier coordinate system (b systems) arrives the transformation matrix of rotating coordinate system (r systems)It can be with
By x, y-axis MEMS gyro sensitivity earth rate signal modulation at frequency be ω sine wave useful signal.
In formula, ε0, ε (t) then be constant value drift error and random drift noise.Assuming that navigational coordinate system (n systems) is northeast
Its coordinate system, λ longitudes, L latitudes,For component of the rotational-angular velocity of the earth under terrestrial coordinate system, ωieFor
Rotational-angular velocity of the earth, value are fixed value 15.041088 °/h, i.e., 4.178 × 10-3°/s。
Terrestrial coordinate system (e systems) arrives the transformation matrix of navigational coordinate system (n systems)
Component of the rotational-angular velocity of the earth under navigational coordinate system：
In formula, ωNFor north component of the earth angular speed under navigational coordinate system, ωUIt is earth angular speed in navigation coordinate
Day under system is to component.By taking the Xuanwu District of Nanjing as an example, latitude is 32 ° of north latitude, then ωNValue be 3.543 × 10-3°/s, ωU's
Value is 2.214 × 10-3°/s。
The coordinate of navigational coordinate system (n systems) to carrier coordinate system (b systems) is converted to：O-XnYnZnAround ZnAxis rotates(course
Angle) form coordinate system O-X1Y1Z1, further around X1Axis rotates θ (pitch angle) and forms coordinate system O-X2Y2Z2, finally around Y2Axis rotates γ
(roll angle) forms coordinate system O-XbYbZb.Navigational coordinate system (n systems) arrives the transformation matrix of carrier coordinate system (b systems)
In formula, θ indicates the pitch angle of carrier.
The coordinate of carrier coordinate system (b systems) to rotating coordinate system (r systems) is converted, and IMU is around rotating coordinate system z axis with angle speed
The size that degree is ω rotates.Carrier coordinate system (b systems) arrives the transformation matrix of rotating coordinate system (r systems)
Therefore,
Above in two kinds of situation：
The first situation, in the case of carrier levels, i.e. roll angle γ=0, when pitching angle theta=0：
That is,
It is as shown in Figure 5 that horizontality rotation modulation seeks northern principle.When carrying out seeking north measurement with rotation modulation technology, target
Observed quantity is the amplitude-modulated wave of a specific frequency.The amplitude and phase of the frequency component, wherein phase are obtained through signal analysis
Include the angle of gyro to measure axis and real north, that is, seeks northern value.X-axis is that initial heading angle differs 90 ° with y-axis, Ke Yiyong
The northern result of seeking of two axis is mutually examined, can also information fusion.
The second situation, in the case of carrier is non-horizontal, i.e. roll angle γ ≠ 0, when pitching angle theta ≠ 0：
In formula,
W13=-cos θ sin γ
W23=sin θ
Therefore,
Although in non-standard state it can be seen from derivation formula, x-axis input signal before entering sensor not by
Modulation becomes the sine wave of specific frequency, but y-axis input signal is still modulated into before entering sensor as specific frequency
Therefore sine wave can still carry out the resolving at initial heading angle with y-axis.When roll angle γ or pitching angle theta, any one is
When 0 establishment, x-axis is still modulated into the sine wave for specific frequency；When roll angle γ and pitching angle theta are not 0 but are all small
When angle, it is assumed that θ=1 sin θ sin γ=0, cos γ=1, cos then hasX-axis can still be merged with y-axis information.Y-axis top
Spiral shell instrument sensor obtains angular speed after modulationAs shown in fig. 6, because of noisy presence, the characteristic of sine wave is not very bright
It is aobvious, so needing the extraction of the 4th step useful signal.
Step 4, to MEMS gyro Output speedCarry out FFT transform, the sine wave useful signal that extraction frequency is ω
Phase, phase include the angle that MEMS inertial navigation systems are directed toward the sensitive axes and real north of overlapping of axles with carrier, that is, seek north
Value, it is specific as follows：
Step 4.1, to MEMS gyro Output speedCarry out FFT transform；
Step 4.2, the frequency of selective extraction signal are FnCorresponding sampled point is found, i.e., in=ω/360：
In formula, n is positive integer, indicates that sampled point, N indicate that the number of sampled point, Fs indicate sample frequency；
The useful signal of step 4.3, extraction sampled point n, i.e.,：
In formula, εy0+εy(t) noise, ε are indicatedy0And εy(t) indicate that the constant value drift error of y-axis and random drift are made an uproar respectively
Sound.
Embodiment 1
L-G simulation test is carried out using the present invention below, the MEMS inertial navigation systems based on single-shaft-rotation modulation seek the north
Method includes the following steps：
The output signal of step 1, acquisition x, y-axis MEMS gyro, the quiet output for adopting 2 minutes y-axis gyros are as shown in Figure 3.
Step 2, the noise profile situation for analyzing output signal, obtained frequency spectrum as shown in figure 4, exist as can be seen from Figure 4
Frequency is 16,17,21,36Hz or so, noise amplitude is larger, is influenced on north finding precision very big, and the frequency for extracting useful signal is answered
Avoid these frequencies；And the following noise of 1Hz frequencies is smaller, it is small on north finding precision influence, and easily controllable motor.
Step 3, this implement the motor maximum (top) speed selected as 3000prm (i.e. 50r/s), i.e. highest rotation modulation frequency is
50Hz, it is 30 °/s to select turning rate herein, control single-shaft-rotation modulation mechanism, make turntable around z-axis do angular speed be 30 °/
The continuously and smoothly of s rotates.
Step 4, acquisition modulation after x, y-axis MEMS gyro Output speed, y-axis gyro sensor it is real-time export such as
Shown in Fig. 6.
Step 5, to MEMS gyro Output speedFFT transform is carried out, selects the frequency of rotation modulation for Fn=ω/360
=1/12Hz, sample frequency Fs=200Hz, sampling time 3min, i.e. sampling number N are 36000, find corresponding adopt
Sampling pointFor positive integer, it is exactly cusp outstanding in Fig. 7, extracts the effective of the sampled point
Signal, amplitude are ω iieCosLcos θ, phaseIt is corresponding initial heading angle.As can be known from Fig. 7, gyro itself exists
Amplitude under the frequency is not more than 0.5 × 10-3, it is much smaller than the amplitude 3.58 × 10 of useful signal-3, the shadow caused by seeking north
Sound is smaller, therefore can obtain accurate initial heading angle.
Test of many times is carried out, the initial heading angle at the theoretical initial heading angle of turntable output and resolving is compared, is tied
Fruit is as shown in table 1, it can be seen that system north finding precision is higher, and for absolute error within 1 °, the standard deviation of error is 0.3 °.
Table 1 is theoretical to be compared with the initial heading angle resolved
| Serial number | Theoretical value (°) | Resolving value (°) | Absolute error (°) |
| 1 | 175 | 174.171 | 0.829 |
| 2 | 167 | 167.476 | 0.476 |
| 3 | 216 | 216.728 | 0.728 |
| 4 | 18 | 17.568 | 0.432 |
| 5 | 183 | 183.057 | 0.057 |
| Standard deviation | 0.301 |
Claims (6)
1. the MEMS inertial navigation systems based on single-shaft-rotation modulation, which is characterized in that including outline border (1), MIMU (2) and single shaft
Rotation modulation mechanism, the single-shaft-rotation modulation mechanism include turntable (3), intermediate plate (4), motor (5) and encoder (6), institute
Setting turntable (3) inside outline border (1) is stated, turntable (3) the top setting MIMU (2), intermediate plate (4) is arranged in lower section；In described
Between plate (4) be arranged through-hole, for fixing motor (5)；Motor (5) shaft is connect across through-hole with turntable (3), under motor
Encoder (6), corner and rotating speed for detecting motor is arranged in portion.
2. the MEMS inertial navigation systems according to claim 1 based on single-shaft-rotation modulation, which is characterized in that the electricity
Machine (5) is bolted with turntable (3).
3. the north finding method of the MEMS inertial navigation systems based on single-shaft-rotation modulation, which is characterized in that include the following steps：
MEMS inertial navigation systems based on single-shaft-rotation modulation are mounted on static carrier by step 1, acquisition x, y-axis
The output signal of MEMS gyro analyzes the noise profile situation of output signal；
Step 2, according to noise profile situation, determine the angular velocity of rotation ω of single-shaft-rotation modulation mechanism, make the MEMS modulated
The frequency of effective output signal of gyro is far from main noise frequency range；
Step 3, control single-shaft-rotation modulation mechanism make turntable be the continuously and smoothly that angular speed is ω around z-axis and rotate, by x, y-axis
The earth rate signal modulation of MEMS gyro sensitivity is the sine wave useful signal of ω at frequency, while acquiring x, y-axis MEMS
Gyro output angle speed
Step 4, to MEMS gyro Output speedCarry out FFT transform, the phase for the sine wave useful signal that extraction frequency is ω
Position, that is, seek northern value.
4. north finding method according to claim 3, which is characterized in that before MEMS gyro y-axis refers in step 1, x-axis refers to the right side,
The output signal of x, y-axis MEMS gyro are acquired 1~2 minute.
5. north finding method according to claim 3, which is characterized in that step 1 to the output signal of x, y-axis MEMS gyro into
Row FFT transform determines the noise profile situation of output signal.
6. the north finding method of the MEMS inertial navigation systems based on single-shaft-rotation modulation according to right 1, which is characterized in that
Step 4 is specific as follows：
Step 4.1, to MEMS gyro Output speedCarry out FFT transform；
Step 4.2, the frequency of selective extraction signal are FnCorresponding sampled point is found, i.e., in=ω/360：
In formula, n is positive integer, indicates that sampled point, N indicate that the number of sampled point, Fs indicate sample frequency；
The useful signal of step 4.3, extraction sampled point n, i.e.,：
In formula, ωieIndicate that rotational-angular velocity of the earth, L indicate that latitude, θ indicate the pitch angle of carrier,Indicate the initial boat of carrier
To angle, northern value, ε are as soughty0+εy(t) noise, ε are indicatedy0And εy(t) the constant value drift error and random drift of y-axis are indicated respectively
Noise.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810088251.8A CN108387229A (en) | 2018-01-30 | 2018-01-30 | A kind of MEMS inertial navigation systems and north finding method based on single-shaft-rotation modulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810088251.8A CN108387229A (en) | 2018-01-30 | 2018-01-30 | A kind of MEMS inertial navigation systems and north finding method based on single-shaft-rotation modulation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108387229A true CN108387229A (en) | 2018-08-10 |
Family
ID=63074743
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810088251.8A Pending CN108387229A (en) | 2018-01-30 | 2018-01-30 | A kind of MEMS inertial navigation systems and north finding method based on single-shaft-rotation modulation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108387229A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110987000A (en) * | 2019-11-07 | 2020-04-10 | 江西驰宇光电科技发展有限公司 | Method for accurately measuring zero-bias magnetic field sensitivity of laser gyroscope |
| CN112964241A (en) * | 2021-02-20 | 2021-06-15 | 广州导远电子科技有限公司 | Multi-position north-seeking method and device, electronic equipment and storage medium |
| CN114910059A (en) * | 2022-06-13 | 2022-08-16 | 清华大学 | Miniaturized MEMS gyro north finder |
| CN114910059B (en) * | 2022-06-13 | 2024-07-02 | 清华大学 | Miniaturized MEMS gyroscope north seeker |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102564420A (en) * | 2011-12-24 | 2012-07-11 | 浙江大学 | Inertial sensor level rotary modulation method suitable for strapdown inertial navigation system |
| CN103344226A (en) * | 2013-06-27 | 2013-10-09 | 南京航空航天大学 | North seeking system and method based on MEMS (Micro-electromechanical Systems) rotation technique |
| CN204965200U (en) * | 2015-08-27 | 2016-01-13 | 九江精密测试技术研究所 | Microminiature photoelectricity load stabilized platform |
-
2018
- 2018-01-30 CN CN201810088251.8A patent/CN108387229A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102564420A (en) * | 2011-12-24 | 2012-07-11 | 浙江大学 | Inertial sensor level rotary modulation method suitable for strapdown inertial navigation system |
| CN103344226A (en) * | 2013-06-27 | 2013-10-09 | 南京航空航天大学 | North seeking system and method based on MEMS (Micro-electromechanical Systems) rotation technique |
| CN204965200U (en) * | 2015-08-27 | 2016-01-13 | 九江精密测试技术研究所 | Microminiature photoelectricity load stabilized platform |
Non-Patent Citations (1)
| Title |
|---|
| 张成浩: ""基于MEMS_IMU寻北定向技术研究"", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110987000A (en) * | 2019-11-07 | 2020-04-10 | 江西驰宇光电科技发展有限公司 | Method for accurately measuring zero-bias magnetic field sensitivity of laser gyroscope |
| CN112964241A (en) * | 2021-02-20 | 2021-06-15 | 广州导远电子科技有限公司 | Multi-position north-seeking method and device, electronic equipment and storage medium |
| CN114910059A (en) * | 2022-06-13 | 2022-08-16 | 清华大学 | Miniaturized MEMS gyro north finder |
| CN114910059B (en) * | 2022-06-13 | 2024-07-02 | 清华大学 | Miniaturized MEMS gyroscope north seeker |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103808331B (en) | A kind of MEMS three-axis gyroscope error calibrating method | |
| CN103900565B (en) | A kind of inertial navigation system attitude acquisition method based on differential GPS | |
| CN102840856B (en) | A kind of gyroscope north finding method of dynamic rotary modulation | |
| JP3447772B2 (en) | Aircraft inertial navigation instrument calibration method | |
| CN105043415B (en) | Inertial system Alignment Method based on quaternion model | |
| CN103900571B (en) | A kind of carrier posture measuring method based on the rotary-type SINS of inertial coodinate system | |
| CN109282804B (en) | Single-axis fiber-optic gyroscope north-seeking algorithm | |
| US20100088063A1 (en) | Method and Apparatus for Precision Azimuth Measurement | |
| CN105628025B (en) | A kind of constant speed offset frequency/machine laser gyroscope shaking inertial navigation system air navigation aid | |
| CN102207386A (en) | North-finding method based on orientation effect error compensation | |
| CN109883415A (en) | A kind of rotating excitation field localization method based on trigonometric function fitting | |
| CN104898176A (en) | Gravity gradient demodulating method for gravity gradiometer of rotating accelerometer | |
| CN106017452B (en) | Double tops disturbance rejection north finding method | |
| CN103900608A (en) | Low-precision inertial navigation initial alignment method based on quaternion CKF | |
| CN101216313A (en) | Multi-location north seeking method based on optical fibre gyroscope | |
| CN106767925A (en) | The location parameter of inertial navigation system three identification alignment methods with twin shaft indexing mechanism | |
| CN111650664B (en) | Real-time gravity gradient demodulation method and device for aviation gravity gradiometer | |
| CN102707080B (en) | Method for simulating strapdown inertial navigation gyroscope by using star sensor | |
| CN111624671B (en) | Method and device for determining gravity gradient demodulation phase angle of gravity gradiometer of rotating accelerometer | |
| CN108387229A (en) | A kind of MEMS inertial navigation systems and north finding method based on single-shaft-rotation modulation | |
| CN110006454A (en) | A kind of method of IMU calibration three-axle table verticality and initial attitude | |
| CN102636664A (en) | Method for dynamically estimating accelerometer resolution | |
| CN110514200A (en) | A kind of inertial navigation system and high revolving speed posture of rotator measurement method | |
| Zhu et al. | Accuracy improvement of a redundant inertial measurement unit brought about by the dual-axis rotational motion | |
| US20070095124A1 (en) | Inertial north finder |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180810 |
|
| RJ01 | Rejection of invention patent application after publication |