王晓君,韩正阳,许向阳. 基于信息层的捷联惯导信号反演技术[J]. 科学技术与工程, 2021, 21(4): 1442-1447.
WANG Xiao-jun,HAN Zheng-yang,XU Xiang-yang.Signal Inversion Technology of Strapdown Inertial Navigation Based on Information Layer[J].Science Technology and Engineering,2021,21(4):1442-1447. |
| 基于信息层的捷联惯导信号反演技术 |
| Signal Inversion Technology of Strapdown Inertial Navigation Based on Information Layer |
| 投稿时间：2020-04-25 修订日期：2020-11-17 |
| DOI： |
| 中文关键词: 捷联惯导 信号反演 信息帧 惯导器件 |
| 英文关键词:Strapdown inertial navigation Signal inversion Information frame Inertial sensors |
| 基金项目:河北科技大学“2019年机器人研究专项”基金项目 |
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| 中文摘要: |
| 针对惯性导航的器件价格昂贵且建模复杂,以及GNSS/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。 |
| 英文摘要: |
| Aiming at the problem of expensive components and complex modeling of inertial navigation, and the slow information transmission speed of GNSS/INS integrated navigation, a strapdown inertial navigation signal inversion technology based on information layer is proposed. After summarizing the definition of commonly used coordinate system in inertial navigation, the related statistics is calculated by attitide matrix, based on the euler angles with original target. Then focuses on how to invert its specific force and angular velocity according to the known position, velocity and attitude matrix. Finally, the measurement value of inertial navigation device under the simulation condition is 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 in accordance with the allowable range of the inertial navigation system error. |
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