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Hybrid inertial navigation system based on a kinematic model
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A kinematic model, inertial navigation technology, applied in navigation, mapping and navigation, navigation through velocity/acceleration measurement, etc., can solve problems such as no longer accurate
Active Publication Date: 2010-06-02
SAGEM DEFENSE SECURITE SA
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[0035] Thus, for a non-limiting example, the method is no longer precise when the vehicle turns, climbs, and / or descends
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no. 1 example
[0090] In the first example, as a non-limiting example, we have figure 1 The vehicle 1 is shown in the figure, or more precisely in this embodiment, the vehicle 1 is moving straight ahead on a level road.
[0091] Vehicle 1 is equipped with an inertial navigation system according to the invention, which is able to measure movements in terms of modelable kinematic components.
[0092] In the case of such a vehicle, it is an advantage to relate the kinematic components to the axes of motion of this vehicle.
[0093] At this point, figure 1 Three axes of motion X, Y, Z are shown, where the X axis is parallel to the running direction and the other two axes (Y, Z) are transverse or substantially transverse to the X axis.
[0094] What needs to be mentioned here is that the three axes do not need to form standardized orthogonal coordinate axes.
[0095] In order to accurately determine movement along the X-axis, the invention does not require the use of external data, eg from the...
no. 2 example
[0145] The following description illustrates a second non-limiting embodiment of the invention, involving Figures 3 to 24 .
[0146] image 3 Describe a vehicle 1 climbing a straight line on a road 2 .
[0147] The longitudinal axis Xr and the vertical axis Zr of the road 2 are inclined, and there is an angle β( image 3 ).
[0148] Furthermore, the axes Xb and Zb of the vehicle and the axes Xr and Zr of the road form an angle α.
[0149] Since the axes associated with the individual may differ from the axes Xb and Yb of the vehicle 1 , the individual coincides with the axis of the vehicle.
[0150] As will be seen below, the angle α forms part of the state variables estimated by the Kalman filter.
[0151] It will also be seen below that each coordinate system has a third coordinate axis Yb, Yr and constitutes an orthogonal coordinate system.
[0152] In this regard, inertial measurements can be realized in particular on the Yb axis.
[0153] In this non-limiting exam...
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Abstract
The invention concerns a method for improving determination of inertial navigation parameters (1) of a carrier (1) moving along modelizable kinematic movement components, the method including the following steps: (a) selecting, taking into account a kinematic model (13) of the carrier (1), at least one movement component whereby integration (11) of the inertial measurements (20) is assumed to givea predetermined value, (b) integrating (11) the inertial measurements (20) in accordance with the selected component(s), (c) determining (14) based on the component(s) a variation between the integration (11) obtained at step (b) and the predetermined value of step (a), (d) estimating on the basis of the variation(s) thus obtained a global inertial error resulting from inertial errors associatedwith said modelizable components, and values to be updated of variable parameters of the kinematic model (13), (e) correcting said inertial navigation based on the thus determined global inertial error. The invention also concerns an inertial navigation system for implementing said method.
Description
technical field [0001] In general, the present invention relates to an inertial navigation system (INS) mounted on a carrier. Background technique [0002] More precisely, the invention relates to a method for determining inertial navigation parameters of a vehicle moving with simulated kinematic components of motion, the method comprising an inertial measurement step which may contain errors, called inertial errors, which lead to inability to Accurately determine the above parameters. [0003] Methods of this type are known. [0004] These methods are used in particular for obtaining the position of a vehicle on which an inertial navigation system is installed. [0005] In this regard, these systems are usually able to achieve a sufficiently accurate level of performance. [0006] For example, positioning accuracy can be obtained by pure inertia of the order of 1Nm / h. However, in order to obtain higher accuracy (such as ten-meter level, or meter level), it is necessary ...
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