摘要
针对惯性导航的器件价格昂贵且建模复杂,以及全球导航卫星系统(global navigation satellite system,GNSS)/惯性定向定位导航系统(inertial navigation system,INS)组合导航对信息传递速度较慢的问题,提出了一种基于信息层的捷联惯导信号反演技术。在整理归纳了惯性导航中常用坐标系的定义后,首先给出了根据已知的原始目标的欧拉角进行姿态矩阵的计算;然后重点讨论了如何根据已知位置、速度和姿态矩阵,反演其比力、角速度;最后叠加误差得到仿真条件下的惯导器件测量值。仿真结果表明:从一段运动轨迹中反演得到的比力和角速度,是以信息帧格式模拟输出惯导器件测量值,再应用惯导方程进行验证,得到的结果误差符合惯导系统误差允许范围。
To solve the problem of expensive components and complex modeling of inertial navigation,and the slow speed of information transmission of integrated navigation of global navigation satellite system/inertial navigation system(GNSS/INS),a signal inversion technology of strapdown inertial navigation based on information layer was proposed.After summarizing the definition of commonly used coordinate system in inertial navigation,the related statistics was calculated by attitude matrix based on the euler angles with original target.Then how to invert its specific force and angular velocity according to the known position,velocity and attitude matrix was discussed.Finally,the measurement value of inertial navigation device under the simulation condition was obtained by superposition error.The simulation results show that,the specific force and angular velocity retrieved from a motion track are the measured values of the inertial navigation devices,which are output in the format of information frame,and then verified by the INS equation.The result error is within the scope of the inertial navigation system error.
作者
王晓君
韩正阳
许向阳
WANG Xiao-jun;HAN Zheng-yang;XU Xiang-yang(College of Institute of Information Science and Engineering,Hebei University of Science&Technology,Shijiazhuang 050054,China)
出处
《科学技术与工程》
北大核心
2021年第4期1442-1447,共6页
Science Technology and Engineering
基金
河北科技大学2019年机器人研究专项。
关键词
捷联惯导
信号反演
信息帧
惯导器件
strapdown inertial navigation
signal inversion
information frame
inertial sensors
