CN110160523A - Initial alignment orientation angle compensation method and vehicular weapons system based on orientation bookbinding - Google Patents
Initial alignment orientation angle compensation method and vehicular weapons system based on orientation bookbinding Download PDFInfo
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- CN110160523A CN110160523A CN201910416395.6A CN201910416395A CN110160523A CN 110160523 A CN110160523 A CN 110160523A CN 201910416395 A CN201910416395 A CN 201910416395A CN 110160523 A CN110160523 A CN 110160523A
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- 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
Abstract
The present invention provides a kind of initial alignment orientation angle compensation methods and vehicular weapons system based on orientation bookbinding, this method comprises: calculating the pitch angle for obtaining sub- inertial navigation system according to the specific force information of the accelerometer in sub- inertial navigation system；The vertical angle for obtaining guided missile is calculated according to the pitch angle of sub- inertial navigation system, the pitch angle of main inertial navigation system and roll angle；The azimuth angle deviation obtained between main inertial navigation system and sub- inertial navigation system is calculated according to rise vertical angle, the pitch angle of main inertial navigation system and the roll angle of guided missile；It is compensated according to azimuth of the azimuth angle deviation between main inertial navigation system and sub- inertial navigation system to main inertial navigation system, compensated azimuth is bound to sub- inertial navigation system to assist sub- inertial navigation system to complete initial alignment.It applies the technical scheme of the present invention, to solve the operation and transmitting process complexity, the technical problem of system suitability difference of vehicular weapons system in the prior art.
Description
Technical field
The present invention relates to vehicular weapons azimuth compensation technique field more particularly to it is a kind of based on orientation bookbinding it is initial right
Quasi- azimuth compensation method and vehicular weapons system.
Background technique
Inertial navigation system (INS) is a kind of specific force and angular velocity information using inertial sensor measurement carrier, and is tied
It closes given primary condition and passes through the self-aid navigation of the navigational parameters such as posture, speed and the position of numerical integration solution carrier
System has many advantages, such as that precision is high in short-term, it is complete to export continuous, strong antijamming capability, navigation information.But determine as a kind of calculate
The shortcomings that position method, inertial navigation system, is that its navigation error accumulates at any time, it is difficult to work independently for a long time.Wherein, just
Beginning conditional error is very big on the influence of system navigation accuracy as the important errors source of inertial navigation system, therefore accurate initial alignment
It is most important for the navigation accuracy for improving system.
There are mainly two types of Initial Alignment Methods: one is the specific forces measured using inertial sensor and angular velocity information to carry out
Autoregistration；Another kind is initially aligned using outside reference information aided inertial navigation system.High-precision inertial navigation
System generally uses autoregistration scheme, as the short-range tactical weapon such as rocket projectile generally selects low precision to reduce cost
Inertial navigation system, autoregistration precision are unable to satisfy index request, generally use the technical solution based on azimuth bookbinding.For
For vehicular weapons, main inertial navigation system is generally seated on car launcher, when guided missile is in a horizontal position, it is assumed that main and sub used
Property navigation system X-axis (preceding upper right coordinate system) be directed toward be overlapped, as shown in Figure 3 and Figure 4, wherein Fig. 4 indicate it is viewed from above.This
When, it can not consider that main and sub inertia leads directly with the initial beggar's inertial navigation system of the azimuth information of main inertial navigation system
In the case where boat system installation error, orientation bookbinding error will not be introduced.But the transmitting position locating for the car launcher is uneven
It is smooth, i.e., when the roll angle of main inertial navigation system is not zero, after missile erecting, due to being deposited between main and sub inertial navigation system
In a biggish pitch angle deviation, X-axis (the preceding upper right coordinate system) direction that will lead to main and sub inertial navigation system is not overlapped,
Directly larger orientation bookbinding will be introduced with the initial beggar's inertial navigation system of the azimuth information of main inertial navigation system at this time to miss
Difference, as shown in Figure 5 and Figure 6.To avoid this problem, currently, it is the position for finding relatively flat that vehicular weapons are mostly before transmission
It parks car launcher or is leveled flat pad using hydraulic system, so that the roll angle of main inertial navigation system is made to be approximately zero,
To realize the approximately equal purpose in main and sub inertial navigation system azimuth.However there is operation to environmental requirement height in such mode
And transmitting process is complicated, the problem of system suitability difference.
Summary of the invention
The present invention provides a kind of initial alignment orientation angle compensation method and vehicular weapons system based on orientation bookbinding, energy
Enough operations for solving vehicular weapons system in the prior art and transmitting process complexity, the technical problem of system suitability difference.
According to an aspect of the present invention, a kind of initial alignment orientation angle compensation method based on orientation bookbinding is provided, just
Beginning alignment orientation angle compensation method includes: step 1, according to the specific force information of the accelerometer in sub- inertial navigation system
Calculate the pitch angle for obtaining sub- inertial navigation system；Step 2, according to the pitch angle of sub- inertial navigation system, main inertial navigation system
The pitch angle of system and the roll angle of main inertial navigation system calculate the vertical angle for obtaining guided missile；Step 3, according to rising for guided missile
The roll angle of vertical angle, the pitch angle of main inertial navigation system and main inertial navigation system calculate obtain main inertial navigation system with
Azimuth angle deviation between sub- inertial navigation system；Step 4, according between main inertial navigation system and sub- inertial navigation system
Azimuth angle deviation the azimuth of main inertial navigation system is compensated, by the azimuth of compensated main inertial navigation system
It binds to sub- inertial navigation system to assist sub- inertial navigation system to complete initial alignment.
Further, in step 1, the pitching angle theta of sub- inertial navigation systemsIt can basisTo obtain
It takes, whereinFor the sub- inertial navigation system ratio force information in the x direction of accelerometer measures, g is acceleration of gravity.
Further, in step 2, a vertical angle f for guided missile can basisTo obtain, whereinθmBased on
The pitch angle of inertial navigation system, γmFor the roll angle of main inertial navigation system.
Further, the pitching angle theta of main inertial navigation systemmValue range beMain inertial navigation system
The roll angle γ of systemmValue range be
Further, the azimuth angle deviation δ ψ in step 3, between main inertial navigation system and sub- inertial navigation system
It can basisTo obtain, wherein ψsFor sub- inertial navigation system
The azimuth of system, ψmFor the azimuth of main inertial navigation system.
According to another aspect of the invention, a kind of vehicular weapons system is provided, vehicular weapons system uses as described above
Based on orientation bookbinding initial alignment orientation angle compensation method to sub- inertial navigation system carry out orientation angle compensation.
It applies the technical scheme of the present invention, provides a kind of initial alignment orientation angle compensation method based on orientation bookbinding,
This method leads bookbinding to sub- inertia using the relationship between the attitude angle information and azimuth angle deviation of main and sub inertial navigation system
The azimuth of boat system compensate calculating with improve orientation bookbinding precision, such mode compared with prior art, to transmitting
Whether position is flat not to require, and does not also need to level flat pad using hydraulic system, is guaranteeing orientation bookbinding precision
It can be improved system suitability simultaneously and simplify transmitting process.
Detailed description of the invention
Included attached drawing is used to provide to be further understood from the embodiment of the present invention, and which constitute one of specification
Point, for illustrating the embodiment of the present invention, and come together to illustrate the principle of the present invention with verbal description.It should be evident that below
Attached drawing in description is only some embodiments of the present invention, for those of ordinary skill in the art, is not paying creation
Property labour under the premise of, be also possible to obtain other drawings based on these drawings.
Fig. 1 shows the initial alignment orientation angle compensation based on orientation bookbinding provided according to a particular embodiment of the invention
The flow diagram of method；
Fig. 2 shows showing for the main and sub inertial navigation system azimuth angle deviation provided according to a particular embodiment of the invention
It is intended to；
Fig. 3 shows main and sub inertial navigation system X-axis when the guided missile provided according to a particular embodiment of the invention does not play perpendicular
It is directed toward schematic diagram；
Fig. 4 shows the top view that main and sub inertial navigation system X-axis is directed toward when the guided missile provided in Fig. 3 does not play perpendicular；
Main and sub inertial navigation system X-axis refers to after Fig. 5 shows the missile erecting provided according to a particular embodiment of the invention
To schematic diagram；
Fig. 6 shows the schematic diagram of main and sub inertial navigation system azimuth angle deviation after the missile erecting provided in Fig. 5.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is right below
The description only actually of at least one exemplary embodiment be it is illustrative, never as to the present invention and its application or use
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
Every other embodiment obtained, shall fall within the protection scope of the present invention.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
It is not limited the scope of the invention up to formula and numerical value.Simultaneously, it should be appreciated that for ease of description, each portion shown in attached drawing
The size divided not is to draw according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant
Method and equipment may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as authorizing explanation
A part of book.In shown here and discussion all examples, any occurrence should be construed as merely illustratively, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should also be noted that similar label
Similar terms are indicated in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It does not need that it is further discussed in figure.
As depicted in figs. 1 and 2, a kind of initial alignment based on orientation bookbinding is provided according to a particular embodiment of the invention
Azimuth compensation method, which includes: step 1, according to the acceleration in sub- inertial navigation system
The specific force information of degree meter calculates the pitch angle for obtaining sub- inertial navigation system；Step 2, according to sub- inertial navigation system
The roll angle of pitch angle, the pitch angle of main inertial navigation system and main inertial navigation system calculates the vertical angle for obtaining guided missile；
Step 3 is calculated according to the roll angle for playing vertical angle, the pitch angle of main inertial navigation system and main inertial navigation system of guided missile
Obtain the azimuth angle deviation between main inertial navigation system and sub- inertial navigation system；Step 4, according to main inertial navigation system
Azimuth angle deviation between sub- inertial navigation system compensates the azimuth of main inertial navigation system, by compensated master
It binds to sub- inertial navigation system to assist sub- inertial navigation system to complete initial alignment at the azimuth of inertial navigation system.
Using such configuration mode, a kind of initial alignment orientation angle compensation method based on orientation bookbinding, the party are provided
Method is using the relationship between the attitude angle information and azimuth angle deviation of main and sub inertial navigation system to bookbinding to sub- inertial navigation system
The azimuth of system compensate calculating with improve orientation bookbinding precision, such mode compared with prior art, to launching site
Whether it is flat do not require, do not need to level flat pad using hydraulic system, while guaranteeing orientation bookbinding precision yet
It can be improved system suitability and simplify transmitting process.
Specifically, in the present invention, as depicted in figs. 1 and 2, main inertial navigation system is arranged on car launcher, sub- inertia
Navigation system is arranged on guided missile, wherein XmYmZmFor the coordinate system of main inertial navigation system, the coordinate of main inertial navigation system
It is bmFor preceding upper right coordinate system；XsYsZsFor the coordinate system of sub- inertial navigation system, the coordinate system b of sub- inertial navigation systemsIt is preceding
Upper right coordinate system；Navigational coordinate system (n system) is northern day east geographic coordinate system.
In the present invention, in order to realize the orientation angle compensation to sub- inertial navigation system, it is necessary first to seek sub- inertia and lead
The pitching angle theta of boat systems.Specifically, in step 1, the pitching angle theta of sub- inertial navigation systemsIt can basisTo obtain, whereinFor accelerometer measures sub- inertial navigation system in the x direction specific force letter
Breath, g is acceleration of gravity.
As a specific embodiment of the invention, due to inertial navigation system acceleration measuring accuracy of measurement generally compared with
Therefore height can use the metrical information of sub- inertial navigation system accelerometerWith the pitching angle theta of sub- inertial navigation systems
Between relationship to the pitching angle theta of sub- inertial navigation systemsIt is sought.The metrical information of sub- inertial navigation system accelerometerWith the pitching angle theta of sub- inertial navigation systemsBetween relationship be
It can be obtained according to formula (1-1)
Wherein, θsFor the pitch angle of sub- inertial navigation system, γsFor the roll angle of sub- inertial navigation system, ψsFor sub- inertia
The azimuth of navigation system,For the sub- inertial navigation system ratio force information in the x direction of accelerometer measures,To add
The ratio force information of the sub- inertial navigation system of speedometer measurement in y-direction,For the sub- inertial navigation system of accelerometer measures
The ratio force information of system in a z-direction,For the transition matrix between sub- inertial navigation system coordinate system and navigational coordinate system.Root
According in formula (1-2)It can obtain
The pitching angle theta of sub- inertial navigation system can be acquired according to formula (1-3)s.In addition, in the present invention, according to public affairs
In formula (1-2)The roll angle γ of sub- inertial navigation system can be acquireds。
Further, in the present invention, in the pitching angle theta for obtaining sub- inertial navigation systemsIt later, can be used according to son
Property the pitch angle of navigation system, the pitch angle of main inertial navigation system and main inertial navigation system roll angle calculate to obtain and lead
Bullet plays vertical angle f.In the present invention, a vertical angle f for guided missile can basisTo obtain
It takes, whereinθmFor the pitch angle of main inertial navigation system, γmIt is led for main inertia
The roll angle of boat system.
As a specific embodiment of the invention, a vertical angle f for usual guided missile can not directly obtain effective measurement, be
This, using the pitching angle theta of sub- inertial navigation systemsAnd the pitching angle theta of main inertial navigation systemmWith roll angle γmWith guided missile
Rise vertical angle f between relationship solved vertical angle f.
As shown in Fig. 2, due to sub- inertial navigation system coordinate system (bsSystem: preceding upper right coordinate system) it is by main inertial navigation system
Unite coordinate system (bmSystem: preceding upper right coordinate system) by around bmThe Z of systemmAxis rotates one and plays what vertical angle f was obtained.Therefore, main and sub used
Property navigation system coordinate system pose transformation matrix have following relationship:
It is obtained according to the first row secondary series respective items of formula (2-1) are equal
sinθs=cosfsin θm+sinfcosθmcosγm (2-2)
Due to the pitching angle theta of main inertial navigation systemmValue range beMain inertial navigation system
Roll angle γmValue range beTherefore, it can enableThenBy formula (2-2) the right and left simultaneously divided byIt can obtain:
Therefore,
Wherein,As a result, according to the pitching angle theta of sub- inertial navigation systems, it is main
The pitching angle theta of inertial navigation systemmAnd the roll angle γ of main inertial navigation systemmThe vertical angle f for obtaining guided missile can be calculated.
Further, in the present invention, after obtaining the vertical angle f of guided missile, vertical angle f, institute can be played according to guided missile
State the pitching angle theta of main inertial navigation systemmAnd the roll angle γ of main inertial navigation systemmIt calculates and obtains the main inertial navigation
Azimuth angle deviation δ ψ between system and the sub- inertial navigation system.Specifically, in the present invention, as shown in Fig. 2, when main used
The pitching angle theta of property navigation systemmWith roll angle γmWhen being not zero, the X of main inertial navigation system coordinate systemmAxis is in the horizontal plane
Project X'mWith the X of sub- inertial navigation system coordinate systemsThe projection X of axis in the horizontal planes' will not be overlapped, there are an orientation is inclined
Poor δ ψ.In the present invention, the azimuth angle deviation δ ψ between main inertial navigation system and sub- inertial navigation system can basisTo obtain, wherein ψsFor the side of sub- inertial navigation system
Parallactic angle, ψmFor the azimuth of main inertial navigation system.
As a specific embodiment of the invention, according to the first row first row and the first row third of formula (2-1)
Column respective items are equal to be obtained
cosθs cosψs=cosfcos θm cosψm+sinfsinγm sinψm-sinfsinθm cosγm cosψm
-cosθs sinψs=-cosfcos θm sinψm+sinfsinγm cosψm+sinfsinθm cosγm sinψm
And because
And
Therefore, formula (3-1) and formula (3-2) being substituted into formula (3-3) can obtain:
Therefore, the azimuth angle deviation δ ψ between main inertial navigation system and main inertial navigation system are as follows:
Further, in the present invention, the orientation between main inertial navigation system and sub- inertial navigation system is being obtained
Angular displacement δ ψ, can be according to the azimuth angle deviation between main inertial navigation system and sub- inertial navigation system to main inertial navigation system
Azimuth compensate, the azimuth of compensated main inertial navigation system is bound to sub- inertial navigation system to assist son
Inertial navigation system completes initial alignment.
According to another aspect of the present invention, a kind of vehicular weapons system is provided, which uses institute as above
The initial alignment orientation angle compensation method based on orientation bookbinding stated carries out orientation angle compensation to sub- inertial navigation system.Due to this
The azimuth compensation method of invention utilizes the relationship pair between the attitude angle information and azimuth angle deviation of main and sub inertial navigation system
It binds and compensates calculating to the azimuth of sub- inertial navigation system to improve orientation bookbinding precision, whether launching site is put down
It is smooth not require, it does not need to level flat pad using hydraulic system yet, can be mentioned while guaranteeing orientation bookbinding precision
High system suitability simultaneously simplifies transmitting process.Therefore, this method is applied in vehicular weapons system to be used for bookbinding to son
The azimuth of inertial navigation system compensates, and can greatly improve the working performance of vehicular weapons system.
Further understand to have to the present invention, below with reference to Fig. 1 and Fig. 2 to of the invention based on the first of orientation bookbinding
Beginning alignment orientation angle compensation method is described in detail.
As depicted in figs. 1 and 2, a kind of initial alignment based on orientation bookbinding is provided according to a particular embodiment of the invention
Azimuth compensation method has carried out different conditions using azimuth compensation method of the invention for the accuracy of verification algorithm
Under simulating, verifying, only list several simulation results in typical case below, be specifically shown in Table 1.Wherein, θm, γm, ψmPoint
Do not indicate that the pitch angle, roll angle and azimuth of main inertial navigation system, f indicate missile erecting angle, θs, ψsIndicate that sub- inertia is led
The pitch angle of boat system and azimuth, δ ψ indicate the azimuth deviation angle between main and sub inertial navigation system,It indicates to utilize formula
The pitch angle that (1-3) is calculated, fcIndicate that is calculated using formula (2-4) plays vertical angle,It indicates to utilize formula (3-5) calculating
Azimuth angle deviation enables sub- inertial navigation system accelerometer measures error are as follows: constant value zero bias are 100 μ g, and random noise isThe following detailed description of how utilization initial alignment orientation angle compensation method of the invention is realized to sub- inertial navigation
The orientation angle compensation of system.
Table 1
Step 1 solves the pitching angle theta of sub- inertial navigation systems.According to the accelerometer in sub- inertial navigation system
Relationship between specific force information, acceleration of gravity information and sub- inertial navigation system pitch angleCalculating obtains
Take the pitch angle of sub- inertial navigation systemSolving result is shown in Table in 1Shown in that column.
Step 2, solve guided missile plays vertical angle f.Utilize the pitching angle theta of sub- inertial navigation systemsAnd main inertial navigation system
The pitching angle theta of systemmWith roll angle γmWith the relationship of guided missile risen between vertical angle fSolve vertical angle f, wherein
Solving result is shown in Table f in 1cShown in that column.
Step 3 solves the azimuth angle deviation δ ψ between main and sub inertial navigation system.Utilize bowing for main inertial navigation system
Elevation angle thetamWith roll angle γmAnd the relationship of guided missile risen between vertical angle f and azimuth angle deviation δ ψAzimuth angle deviation δ ψ is solved, in solving result such as table 1That column
It is shown.Solving result shows the azimuth angle deviation of calculatingIt is of substantially equal with true azimuth angle deviation δ ψ.Therefore, it utilizes
The azimuth angle deviation of calculatingIt is bound again after being compensated to the azimuth of main inertial navigation system to sub- inertial navigation system,
Orientation bookbinding precision can be significantly improved, to improve the initial alignment precision of sub- inertial navigation system.
Step 4 is completed sub- inertial navigation system and is initially aligned.Utilize the azimuth angle deviation of calculatingTo main inertial navigation
The azimuth ψ of systemmIt compensates, and by compensated azimuthIt binds to sub- inertial navigation system, to assist son
Inertial navigation system completes initial alignment.
In conclusion the initial alignment precision based on orientation bookbinding depends on the bookbinding precision in orientation, the present invention provides
A kind of initial alignment orientation angle compensation method based on orientation bookbinding, this method can by compensating to the azimuth of bookbinding
The adaptability of raising system can simplify transmitting process while guaranteeing orientation bookbinding precision.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
In addition, it should be noted that, limiting components using the words such as " first ", " second ", it is only for be convenient for
Corresponding components are distinguished, do not have Stated otherwise such as, there is no particular meanings for above-mentioned word, therefore should not be understood as to this
The limitation of invention protection scope.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of initial alignment orientation angle compensation method based on orientation bookbinding, which is characterized in that the initial alignment orientation angle
Compensation method includes:
Step 1 calculates according to the specific force information of the accelerometer in sub- inertial navigation system and obtains sub- inertial navigation system
Pitch angle；
Step 2 is led according to the pitch angle of the sub- inertial navigation system, the pitch angle of main inertial navigation system and main inertia
The roll angle of boat system calculates the vertical angle for obtaining guided missile；
Step 3 plays vertical angle, the pitch angle of the main inertial navigation system and main inertial navigation system according to the guided missile
Roll angle calculate the azimuth angle deviation obtained between the main inertial navigation system and the sub- inertial navigation system；
Step 4, according to the azimuth angle deviation between the main inertial navigation system and the sub- inertial navigation system to the master
The azimuth of inertial navigation system compensates, and the azimuth of the compensated main inertial navigation system is bound to the son
Inertial navigation system is to assist the sub- inertial navigation system to complete initial alignment.
2. the initial alignment orientation angle compensation method according to claim 1 based on orientation bookbinding, which is characterized in that in institute
It states in step 1, the pitching angle theta of the sub- inertial navigation systemsIt can basisTo obtain, whereinFor
The ratio force information of the sub- inertial navigation system of accelerometer measures in the x direction, g is acceleration of gravity.
3. the initial alignment orientation angle compensation method according to claim 2 based on orientation bookbinding, which is characterized in that in institute
It states in step 2, a vertical angle f for the guided missile can basisTo obtain, whereinθmFor the pitch angle of main inertial navigation system, γmFor main inertial navigation system
Roll angle.
4. the initial alignment orientation angle compensation method according to claim 3 based on orientation bookbinding, which is characterized in that described
The pitching angle theta of main inertial navigation systemmValue range beThe roll angle γ of the main inertial navigation systemm
Value range be
5. the initial alignment orientation angle compensation method according to claim 4 based on orientation bookbinding, which is characterized in that in institute
It states in step 3, the azimuth angle deviation δ ψ between the main inertial navigation system and the sub- inertial navigation system can basisTo obtain, wherein ψsFor the orientation of sub- inertial navigation system
Angle, ψmFor the azimuth of main inertial navigation system.
6. a kind of vehicular weapons system, which is characterized in that the vehicular weapons system uses such as any one of claims 1 to 5
Azimuth of the initial alignment orientation angle compensation method based on orientation bookbinding to bookbinding to sub- inertial navigation system carries out
Compensation.
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| CN110765593A (en) * | 2019-10-09 | 2020-02-07 | 上海机电工程研究所 | Evaluation method and system suitable for portable missile initial binding information |
| CN113094129A (en) * | 2021-03-25 | 2021-07-09 | 北京机电工程研究所 | Button menu implementation method of weapon control software |
| CN113720206A (en) * | 2021-09-02 | 2021-11-30 | 重庆零壹空间科技集团有限公司 | Rocket ground aiming method, system, computer equipment and storage medium |
| CN113959462A (en) * | 2021-10-21 | 2022-01-21 | 北京机电工程研究所 | Quaternion-based inertial navigation system self-alignment method |
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