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High precision navigation system

Books published by China Aerospace Publishing House in 2005
High Precision Navigation System was launched in 2005 China Aerospace Press Published by Zhang Yanshen. This book mainly introduces the author's work in Tsinghua University“ Electrostatic gyroscope ”And "Optical Gyro Positioning and Orientation System".
Title
High precision navigation system [1]
Author
Zhang Yanshen
Category
Science and technology books
press
China Aerospace Press
Publication time
September 1, 2005
Number of pages
397
Pricing
50 yuan
Folio
32 ON
Binding
Hardback
ISBN
nine trillion and seven hundred and eighty-seven billion eight hundred and one million four hundred and forty-nine thousand nine hundred and ninety-three [2]
Revision
one

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High Precision Navigation System introduces the basic knowledge of inertial/satellite organization navigation system theory, optimal estimation theory and real-time error control method in navigation system.
The author has visited some universities and research institutes in Canada, the United States, Germany, France and other countries in combination with his scientific research work. In "High Precision Navigation System", some achievements of their research on key technologies of navigation system are introduced. As an example of engineering application of high-precision navigation system, the high-precision navigation system also introduces the accuracy assurance method of geodetic penetration measurement system in detail.
On the basis of the above research and interviews, the author proposed three engineering design methods for high-precision gyroscopes, including electrostatic, laser and optical fiber, including: (1) analysis of the overall structure; (2) Structure and process of key parts; (3) Error analysis, testing and model building; (4) Static and dynamic calibration of major errors in the navigation system.
The contents of High Precision Navigation System are engineering, practical and forward-looking. It has reference value for engineers and technicians engaged in research, development and application of high-precision navigation system, as well as teachers and students in colleges and universities.

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Introduction
Chapter 1 Error Analysis and Calculation of Inertial Navigation System
1.1 Introduction
1.2 Coordinate system in navigation calculation
1.3 Foucault gyroscope
1.4 Pendulum Gyrocompass
1.5 Scheduler cycle
1.6 Inertial navigation system closed-loop control Features of
1.7 Liquid floated integral gyroscope
one point eight Electrostatic gyroscope
1.9 Flexible gyroscope
one point one zero Laser gyroscope
one point one one Fiber optic gyroscope
1.13 Mechanical layout equation of inertial navigation system
1.14 Error propagation equation of platform inertial navigation system
1.15 Error propagation characteristics of inertial navigation system
1.16 Strapdown inertial navigation system
1.17 Summary of this chapter
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Chapter 2 Satellite/Inertia integrated navigation system
2.1 Introduction
2.3 Positioning method of satellite navigation
2.4 Positioning accuracy of log
2.5 Positioning accuracy of radio navigation
2.6 Positioning accuracy of inertial navigation system
2.7 GPS/INS navigation system with different combination depths
2.8 Summary of this chapter
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Chapter 3 Optimal Estimation Theory and Error Control of Navigation System
3.1 Introduction
3.2 Weiner filtering theory and integral equation
3.3 Continuous Kalman filter equation
3.4 Discrete Kalman filter equation
3.5 Stability of Kalman filter
3.6 Divergence of Kalman filter
3.7 Methods to prevent Kalman filter divergence
3.8 Square root filter
3.9 Adaptive Kalman filter
3.10 Calculation equation of adaptive Kalman filter
3.11 Engineering design method of Kalman filter
3.12 Simplified adaptive Kalman filter
3.13 Summary of this chapter
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Chapter 4 Inertial Measurement, Positioning and Orientation System
4.1 Introduction
4.2 Technical requirements for inertial measurement system
four point three Liquid floated gyroscope Positioning and orientation system
4.4 "GWX-1" fast positioning and orientation system of Tsinghua University
4.5 Electrostatic gyro geodetic system
4.6 Laser gyro positioning and orientation system
4.7 Dynamic calibration of inertial measurement system
4.8 Gravity measurement and Gravity gradiometer
4.9 Error model and Kalman filter of inertial measurement system
4.10 Summary of this chapter
reference
Chapter 5 Electrostatic gyroscope Structure, process and support system of
5.1 Introduction
5.2 Structure and key technologies of electrostatic gyroscope
5.3 Breakdown strength of electric field in vacuum environment
5.4 Structure of rotor
5.5 Process of rotor
5.6 Comparison between hollow rotor and solid rotor
5.7 Structure of supporting electrode
5.8 Process of supporting electrode
5.9 Capacitive bridge for measuring rotor displacement
5.10 Electrostatic support system with variable mode control
5.11 Summary of this chapter
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Chapter 6 Test and Model Identification of ESG Drift Error
6.1 Introduction
6.2 Identification method of ESG drift error model in navigation system
6.3 Drift error model and identification method of ESG in marine monitor
6.4 Mechanism of electrostatic interference torque
6.5 Mathematical model of ESG drift error
6.6 Test system and experimental design of dual axis servo turntable
6.7 Calculation of drift error coefficients of ESG by curve meshing method
6.8 Torque measurement system of electrostatic gyroscope
6.9 Research on servo test of electrostatic gyroscope
6.10 Preliminary study on stochastic error model of ESG
6.11 Summary of this chapter
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Chapter 7 ESG Navigation System and Space Orientation System
7.1 Introduction
7.2 Structure of heading and attitude system of China 721 ESG
7.3 Stabilization loop of 721 electrostatic gyro platform
7.4 Application of 721 electrostatic gyro heading and attitude system flight test
7.5 Structure of American SPN electrostatic gyroscope platform
7.6 Stability loop of SPN electrostatic gyro platform
7.7 SPN type electrostatic gyro navigation system
7.8 GP-B electrostatic gyroscope of Stanford University
7.9 Structure and control of GP-B satellite
7.10 Solid rotor electrostatic gyroscope in Russia
7.11 Summary of this chapter
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Chapter 8 Precision Modular machine tool Optical adjustment method of
8.1 Introduction
8.2 Technical requirements
8.3 Optical adjustment method of double axis modular machine tool
8.4 Development and experimental research of # 1 concentricity optical adjuster
8.5 Development and experimental research of # 2 concentricity optical adjuster
8.6 Development and experimental research of optical adjustment instrument for four axis modular machine tool
8.7 Summary of this chapter
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Chapter 9 Laser gyroscope Error analysis and control technology based on matlab
9.1 Introduction
9.2 Passive cavity Sagnac interferometer
9.3 Laser gyroscope experimental device of Sperry Company
9.4 Active cavity Sagnac interferometer
……
Chapter 10 Fiber optic gyroscope System structure and error analysis of
Chapter 11 Exploratory Research on Micro Optical Gyroscope
Appendix A 50 years of navigation technology research
Appendix B Test Results of Geophysical Field Detection (GP-B) at Stanford University

preface

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In the 1970s, in the delivery vehicles such as nuclear submarines and long-range aircraft Platform inertial navigation system It has been applied and become a model product for mass production. In a long voyage, they not only achieve the required positioning accuracy, but also can ensure the launch of weapons from the carrier. It can be considered that the successful application of ESG marks that the navigation technology has entered the era of high precision.
In the 1980s, laser gyro strapdown inertial navigation system was widely used in civil aviation aircraft, fighter aircraft, long-range artillery, tactical missile launcher and other carriers. Physically speaking, the optical gyroscope has no error related to acceleration, and its advantage is that it can start quickly without preheating and temperature control; The measuring speed range is not limited, and the linearity and stability of the scale factor are high. Therefore, compared with mechanical gyroscopes, optical gyroscopes have advantages in low cost and miniaturization. It can be expected that they will have further development.