Method for online estimating inertia/satellite combined guidance system data asynchronous time
A technology of integrated navigation system and satellite navigation system, applied in the field of navigation and positioning, can solve the problems of multi-CPU time, increase system cost and complexity, occupation, etc., and achieve the effect of improving accuracy
Inactive Publication Date: 2010-06-30
BEIHANG UNIV
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This method not only increases the cost and complexity of the system, but also takes up more CPU time during the synchronization process
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[0020] The specific implementation process of the present invention will be set forth below by taking the flight process of an aircraft as an example.
[0021] figure 1 is the model of the online estimation system implementing the present invention, and the core part of the system is to construct the state equation and measurement equation of the estimator. The invention takes the data out-of-synchronization time between the inertial navigation system and the satellite navigation system as the state of the estimator, and estimates it while estimating the state of the inertial navigation system position and speed error. Therefore, the state equation consists of two parts, one part is the error state of the inertial navigation system, and the other part is the error model of the out-of-synchronization time of the two subsystems.
[0022] The main errors of inertial navigation system include velocity error, attitude error, position error and error of inertial device. Select the...
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The present invention provides a method of on-line estimating the un-synchronous time that the inertia / satellite group navigation system data, and the un-synchronous time of the data between the inertia navigation system and the satellite navigation system is used as the state of the estimator. The state equation includes two parts: the error state of the inertia and the error module of the un-synchronous time of two subsystems; the output position distance of the two systems is adopted in the measuring and the measuring module not only includes the corresponding measuring error of the two subsystems, but also includes the position difference cased by the data un-synchronous time, because the data of the two systems is not the updated date at the same time; the optimized estimating of the quantity of state including the un-synchronous time data of two systems is calculated by a filtering method according to a state equation and a measuring equation. In the present invention, the un-synchronous time of data between the inertia navigation system and the satellite navigation system can be estimated in real time, and the precision of the combining navigation system is improved effectively and the method is simple and is easy to perform without adding any hardwares.
Description
technical field [0001] The invention relates to a method for estimating the out-of-synchronization time of inertial / satellite integrated navigation system data on line, and belongs to the technical field of navigation and positioning. Background technique [0002] The inertial navigation system (INS) has good autonomy and concealment, and can continuously provide output information of various high-precision navigation parameters (position, speed, attitude, heading, etc.), with a wide frequency band, but its error (especially position error) Over time, it cannot undertake the task of high-precision navigation alone for a long time. The satellite navigation system has high positioning and speed measurement accuracy, and is basically not limited by region and time. However, when the carrier is flying in a large maneuver or covered by terrain, the satellite navigation information may be interrupted, or the dynamic error is too large to be used; in addition, the update frequency...
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IPC IPC(8): G01C21/16G01S5/02G01S19/38
Inventor 冯培德王玮
Owner BEIHANG UNIV