Combinated navigation method based on robust dissipation filtering

An integrated navigation and dissipation technology, which is applied in integrated navigation based on robust dissipation filter, navigation navigation and positioning, and aerospace fields, can solve problems such as uncertain convergence, difficult engineering practice, and strong assumptions, and reduce engineering implementation. Difficulty, improving navigation accuracy, and reducing the effect of implementation difficulty

An integrated navigation and dissipation technology, which is applied in integrated navigation based on robust dissipation filter, navigation navigation and positioning, and aerospace fields, can solve problems such as uncertain convergence, difficult engineering practice, and strong assumptions, and reduce engineering implementation. Difficulty, improving navigation accuracy, and reducing the effect of implementation difficulty

CN101246012AActive Publication Date: 2008-08-20BEIHANG UNIV
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  • Combinated navigation method based on robust dissipation filtering
  • Combinated navigation method based on robust dissipation filtering
  • Combinated navigation method based on robust dissipation filtering

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Experimental program
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Embodiment Construction

[0037] As shown in Figure 1, the specific implementation steps of the present invention are as follows:

[0038] 1. Establish the affine parameter dependent model description of the error state equation of the strapdown inertial navigation system

[0039] Taking the geographic system (northeast sky) as the basic coordinate system for navigation calculation, considering the flight height h, and assuming that the earth is a spheroid, the inertial navigation error state equation is as follows.

[0040] (1) The attitude error angle equation of the north inertial navigation system is:

[0041] φ · x = - δ v y R M + h + ( ω ie sin L ...

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Abstract

The invention discloses a combined navigation method which is based on robust dissipative filtering, and relates to a combined navigation systematic method of strapdown inertia, satellite and astronomy. Firstly, the combined navigation method uses a strapdown inertia navigation system, a GPS receiver and an astronomical navigation system for forming a combined internal navigation system; secondly, according to the dissipative control idea of the modern control theory, the combined navigation method uses a linear matrix inequality (abbreviated as LMI) algorithm for designing a robust dissipative filter so as to implement the fusion of high-precision GPS position and the posture measurement information of speed and the astronomical navigation system; the combined navigation method completely exerts high reliability and usability of traditional navigation means, as well as high precision of satellite and astronomy navigation, and finally achieves the high-reliability and high-precision combined navigation that is based on multiple sensors.

Description

technical field [0001] The invention relates to a combined navigation method, which is a combined navigation method based on robust dissipation filtering, and is applicable to the technical field of aviation navigation, and can be applied to aircraft navigation, and can also be applied to aerospace and navigation navigation positioning. Background technique [0002] The navigation system is to measure and calculate the movement information of the carrier, and provide it to the driver or the autopilot to realize the correct manipulation or control of the carrier. When various navigation systems are used alone, it is difficult to meet the navigation performance requirements. An effective way to improve the overall performance of the navigation system is to use combined navigation technology, that is, use two or more non-similar navigation systems to measure the same navigation information. Measured and resolved to form volume measurements from which the errors of the various n...

Claims

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Application Information

Patent Timeline
20 Aug 2008
Publication
CN101246012A
IPC
G01C21/00; G01C21/28; G01C21/20; G01C25/00
Inventors
郭雷; 曹松银