P01 Introduction 课件.pptVIP

Lecture 1 -- Introduction * * Inertial Technology Ver. 2013.2 Fu, Zhenxian School of Astronautics, HIT About the course Inertial Navigation（惯性导航）: Devices: Gyroscopes (陀螺仪) Accelerometers (加速度计） Systems: Platform inertial navigation systems （平台式惯导系统） Strapdown inertial navigation systems （捷联惯导系统） 1.0 Navigation Navigation -- providing information about vehicle’s motion, such as position, velocity and attitude. Relationship between -- Navigation, guidance and control Controller Actuator Position Velocity Attitude Navigation ( feedback ) 2.2 Basis of Inertial Navigation Inertial navigation is mainly based on Newton’s second laws Dynamic equation Inertial navigation start from the measurement of vehicle’s acceleration ( using accelerometers -- 加速度计). m Sensitivity axis Influence of gravitation 2.3*Basic idea Relationship between position, velocity and acceleration : Characteristics of inertial navigation: Autonomous (自主 self-contained) * No external information is required Relying merely on inertial measurement of the the vehicle itself (using accelerometers and gyroscopes 陀螺仪) 2.4 Two-Dimensional Case Planar (two-dimensional) navigation vehicle platform Outputs of accelerometers are integrated twice to obtain position of vehicle. Acc. X Acc. Y During navigation, the platform need to emulate the OXY frame. Stabilization of the platform is achieved with help of gyroscopes. Platform vs Strapdown 3.3 Drift and drifting rate Drift -- change of direction of a gyro’s spinning axis with respect to inertial space due to disturbance Drift rate -- angular rate of drift （deg/h） Drift (漂移) and drifting rate Precision of navigation -- inertial grade: 0.01deg/h 有害力矩 History of gyros -- reducing detrimental torques and drift 4.1 Foucault’s work Foucault gyroscope (1852) Earth Experiment not successful Later improvements 4.2 History: marine application Magnetic compass (罗盘) was applied in early marine navigation Late 19th century, magnetic compass is made le