CN113432621A - Time delay testing method of strapdown inertial navigation system based on swing table - Google Patents
Time delay testing method of strapdown inertial navigation system based on swing table Download PDFInfo
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- CN113432621A CN113432621A CN202110705949.1A CN202110705949A CN113432621A CN 113432621 A CN113432621 A CN 113432621A CN 202110705949 A CN202110705949 A CN 202110705949A CN 113432621 A CN113432621 A CN 113432621A
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- 238000012360 testing method Methods 0.000 title claims abstract description 12
- 238000005096 rolling process Methods 0.000 claims abstract description 17
- 238000000034 method Methods 0.000 claims abstract description 9
- 230000036544 posture Effects 0.000 claims abstract description 8
- 238000010998 test method Methods 0.000 claims abstract description 4
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000009795 derivation Methods 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The invention relates to a time delay testing method of a strapdown inertial navigation system based on a swing table, which comprises the following steps of: step 1, mounting a strapdown inertial navigation system on a swing table, aligning the strapdown inertial navigation system with the swing table through calibration, and compensating an attitude zero position between the strapdown inertial navigation system and the swing table; step 2, arranging a single-shaft swing of the swing platform; step 3, generating a pulse signal through a signal generator, synchronously recording the output postures of the swing platform and the inertial navigation system responding to the pulse signal, and calculating the rolling difference between the strapdown inertial navigation system and the swing platform; and 4, stopping swinging, and performing difference on the output postures of the synchronously recorded strapdown inertial navigation system and the swinging table to obtain a difference amplitude value so as to calculate the time delay of the strapdown inertial navigation system. The method can be applied to the time delay test method of the strapdown inertial navigation system with various types, and has good engineering application value.
Description
Technical Field
The invention belongs to the technical field of strapdown inertial navigation systems, and relates to a time delay testing method of a strapdown inertial navigation system, in particular to a time delay testing method of a strapdown inertial navigation system based on a swing table.
Background
The strapdown inertial navigation system has the advantages of high precision, stable performance and high reliability. However, there is some noise in its gyro output, and to obtain the angular motion information of the carrier, the output usually needs to be filtered, thereby causing system delay. The swinging angle of the swinging platform is usually measured by a grating, the angle latching speed is high, and almost no time delay exists, so that the time delay of the strapdown inertial navigation can be measured by using the angle output by the swinging platform.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a time delay testing method of a strapdown inertial navigation system based on a swing table, which is reasonable in design, simple and practical.
The invention solves the practical problem by adopting the following technical scheme:
a time delay testing method of a strapdown inertial navigation system based on a swing table comprises the following steps:
step 1, mounting a strapdown inertial navigation system on a swing table, aligning the strapdown inertial navigation system with the swing table through calibration, and compensating an attitude zero position between the strapdown inertial navigation system and the swing table;
step 2, arranging a single-shaft swing of the swing platform;
step 3, generating a pulse signal through a signal generator, synchronously recording the output postures of the swing platform and the inertial navigation system responding to the pulse signal, and calculating the rolling difference between the strapdown inertial navigation system and the swing platform;
and 4, stopping swinging, and performing difference on the output postures of the synchronously recorded strapdown inertial navigation system and the swinging table to obtain a difference amplitude value so as to calculate the time delay of the strapdown inertial navigation system.
Moreover, the specific method of the step 2 is as follows:
setting the rolling amplitude as R and the period as T,
the output of the rocking platform rolling is:
the output of the swing platform is subjected to rolling derivation, and the swing angular velocity of the swing platform can be obtained as follows:
under the drive of the swing platform, the roll curve of the strapdown inertial navigation system is also a sine curve, and the time delay of the strapdown inertial navigation system is set to be delta t, so that the following steps are provided:
and the calculation formula of the difference between the strapdown inertial navigation system in the step 3 and the swing table is as follows:
since Δ t is small, typically within 20ms, an approximation can be made:
simplifying the formula of the difference between the strapdown inertial navigation system and the swing table in rolling
Moreover, the calculation formula of step 4 is:
as can be seen from the above formula, the difference between the strapdown inertial navigation system and the swing table in roll is a sine curve, and the amplitude of the sine curve is set to be AdrIs provided with
Then the strapdown inertial navigation system delay can be expressed as:
the invention has the advantages and beneficial effects that:
the invention provides a time delay test method of a strapdown inertial navigation system based on a swing table, which utilizes the characteristics that the swing angle of the swing table is usually obtained by grating measurement, the angle latching speed is very high, almost no time delay exists, the angle output by the swing table is used for measuring the time delay of the strapdown inertial navigation system, and the test result is reliable. The method can be applied to the time delay test method of the strapdown inertial navigation system with various types, and has good engineering application value.
Detailed Description
The following examples are provided for further details of the invention:
a time delay testing method of a strapdown inertial navigation system based on a swing table comprises the following steps:
step 1, mounting a strapdown inertial navigation system on a swing table, aligning the strapdown inertial navigation system with the swing table through calibration, and compensating an attitude zero position between the strapdown inertial navigation system and the swing table;
step 2, arranging a single-shaft swing of the swing platform;
the specific method of the step 2 comprises the following steps:
in this embodiment, taking the roll shaft swing as an example, because the time delay of the strapdown inertial navigation system is a certain value, other shafts are selected to swing, the measured time delay is the same as the roll swing, the roll swing amplitude is set to be R, the period is T, the swing time is T, and the initial phase is 0;
the output of the rocking platform rolling is
The rolling angular velocity of the swing platform can be obtained by deriving the output rolling of the swing platform
Under the drive of the swing platform, the roll curve of the strapdown inertial navigation system is also a sine curve, and if the time delay of the strapdown inertial navigation system is delta t, the output roll value of the inertial navigation system is
Step 3, generating a pulse signal through a signal generator, synchronously recording the output postures of the swing platform and the inertial navigation system responding to the pulse signal, and calculating the rolling difference between the strapdown inertial navigation system and the swing platform;
the calculation formula of the difference dr between the strapdown inertial navigation system in the step 3 and the swing table in the rolling process is as follows:
since Δ t is small, typically within 20ms, an approximation can be made:
simplifying the formula of the difference between the strapdown inertial navigation system and the swing table in rolling
And 4, stopping swinging, and performing difference on the output postures of the synchronously recorded strapdown inertial navigation system and the swinging table to obtain a difference amplitude value so as to calculate the time delay of the strapdown inertial navigation system.
The calculation formula of the step 4 is as follows:
as can be seen from the above formula, the difference between the strapdown inertial navigation system and the swing table in roll is a sine curve, and the amplitude of the sine curve is set to be AdrIs provided with
Then the strapdown inertial navigation system delay can be expressed as:
it should be emphasized that the examples described herein are illustrative and not restrictive, and thus the present invention includes, but is not limited to, those examples described in this detailed description, as well as other embodiments that can be derived from the teachings of the present invention by those skilled in the art and that are within the scope of the present invention.
Claims (4)
1. A time delay test method of a strapdown inertial navigation system based on a swing table is characterized by comprising the following steps: the method comprises the following steps:
step 1, mounting a strapdown inertial navigation system on a swing table, aligning the strapdown inertial navigation system with the swing table through calibration, and compensating an attitude zero position between the strapdown inertial navigation system and the swing table;
step 2, arranging a single-shaft swing of the swing platform;
step 3, generating a pulse signal through a signal generator, synchronously recording the output postures of the swing platform and the inertial navigation system responding to the pulse signal, and calculating the rolling difference between the strapdown inertial navigation system and the swing platform;
and 4, stopping swinging, and performing difference on the output postures of the synchronously recorded strapdown inertial navigation system and the swinging table to obtain a difference amplitude value so as to calculate the time delay of the strapdown inertial navigation system.
2. The method for testing the time delay of the strapdown inertial navigation system based on the swing table as claimed in claim 1, wherein: the specific method of the step 2 comprises the following steps:
setting the rolling amplitude as R and the period as T,
the output of the rocking platform rolling is:
the output of the swing platform is subjected to rolling derivation, and the swing angular velocity of the swing platform can be obtained as follows:
under the drive of the swing platform, the roll curve of the strapdown inertial navigation system is also a sine curve, and the time delay of the strapdown inertial navigation system is set to be delta t, so that the following steps are provided:
3. the method for testing the time delay of the strapdown inertial navigation system based on the swing table as claimed in claim 1, wherein: the calculation formula of the difference between the strapdown inertial navigation system in the step 3 and the swing table in the step is as follows:
since Δ t is small, typically within 20ms, an approximation can be made:
simplifying the formula of the difference between the strapdown inertial navigation system and the swing table in rolling
4. The method for testing the time delay of the strapdown inertial navigation system based on the swing table as claimed in claim 1, wherein: the calculation formula of the step 4 is as follows:
from top to bottomAs can be seen, the difference between the strapdown inertial navigation system and the swing table in roll is a sine curve, and the amplitude of the sine curve is set to be AdrIs provided with
Then the strapdown inertial navigation system delay can be expressed as:
Priority Applications (1)
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| CN202110705949.1A CN113432621A (en) | 2021-06-24 | 2021-06-24 | Time delay testing method of strapdown inertial navigation system based on swing table |
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| CN202110705949.1A CN113432621A (en) | 2021-06-24 | 2021-06-24 | Time delay testing method of strapdown inertial navigation system based on swing table |
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Cited By (2)
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| CN113654574A (en) * | 2021-10-19 | 2021-11-16 | 深圳奥斯诺导航科技有限公司 | High-frequency high-thrust dynamic test swing platform and test method thereof |
| CN115047743A (en) * | 2022-08-16 | 2022-09-13 | 中国船舶重工集团公司第七0七研究所 | Time-consuming end high-precision time delay compensation method based on feedback |
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| CN101893445A (en) * | 2010-07-09 | 2010-11-24 | 哈尔滨工程大学 | Rapid initial alignment method for low-accuracy strapdown inertial navigation system under swinging condition |
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- 2021-06-24 CN CN202110705949.1A patent/CN113432621A/en active Pending
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| CN101893445A (en) * | 2010-07-09 | 2010-11-24 | 哈尔滨工程大学 | Rapid initial alignment method for low-accuracy strapdown inertial navigation system under swinging condition |
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| CN107525524A (en) * | 2017-09-11 | 2017-12-29 | 哈尔滨工程大学 | A kind of inertial navigation system time delay based on three axle synchronization turntables determines method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113654574A (en) * | 2021-10-19 | 2021-11-16 | 深圳奥斯诺导航科技有限公司 | High-frequency high-thrust dynamic test swing platform and test method thereof |
| CN113654574B (en) * | 2021-10-19 | 2022-01-25 | 深圳奥斯诺导航科技有限公司 | High-frequency high-thrust dynamic test swing platform and test method thereof |
| CN115047743A (en) * | 2022-08-16 | 2022-09-13 | 中国船舶重工集团公司第七0七研究所 | Time-consuming end high-precision time delay compensation method based on feedback |
| CN115047743B (en) * | 2022-08-16 | 2022-11-01 | 中国船舶重工集团公司第七0七研究所 | Time-consuming end high-precision time delay compensation method based on feedback |
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Application publication date: 20210924 |