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Nonlinear compensating method for pseudo satellite and inertial integrated navigation system

A nonlinear compensation and navigation system technology, applied in radio wave measurement system, navigation through speed/acceleration measurement, measurement device, etc., can solve problems such as divergence, poor filtering performance, and large linear error

Inactive Publication Date: 2009-10-21
BEIHANG UNIV
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Problems solved by technology

[0004] The technical problem of the present invention is to provide a nonlinear compensation method for the pseudolite / inertial integrated navigation system in view of the problem of large linear error, poor filtering performance or even divergence in the traditional linearization method in the pseudolite / inertial integrated navigation system , the method adopts the nonlinear compensation method of quadratic term correction, which improves the performance of the pseudolite / inertial integrated navigation system

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  • Nonlinear compensating method for pseudo satellite and inertial integrated navigation system
  • Nonlinear compensating method for pseudo satellite and inertial integrated navigation system
  • Nonlinear compensating method for pseudo satellite and inertial integrated navigation system

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Embodiment Construction

[0020] In the present invention, the measurement of the pseudo-range of the pseudolite is carried out by the quadratic Taylor expansion at the position given by the inertial navigation system, and the quadratic term is added to the measurement equation of the filter to correct it. The filter model error introduced linearly improves the performance of the pseudolite / inertial integrated navigation system.

[0021] Before describing the specific implementation of the present invention, it is necessary to introduce the Kalman filtering method. Kalman filtering is a linear, unbiased recursive minimum variance regression estimation, which uses the dynamic equation, the state equation, to describe the dynamic change law of the estimated quantity, and can optimally estimate the unknown state of the dynamic system from the noise data. Although engineering objects are generally continuous systems, in order to facilitate computer processing, continuous systems are generally discretized. ...

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Abstract

The invention discloses a nonlinear compensating method for a pseudo satellite / inertial integrated navigation system and provides a specific implementation mode of the method. The research shows that on the basis of a linearizing method, the method is added with quadratic term amendment, utilizes quadratic term to compensate linearizing error, reduces filtering model error introduced by nonlinearity of the pseudo range of the pseudo satellite to a certain extent and has obvious effect of improving the precision of the integrated navigation system. Simultaneously, the method adopts two-step algorithm to solve the problem of nonlinear calculation brought by the quadratic term, reduces the complexity of the algorithm and has practical value.

Description

technical field [0001] The invention relates to a nonlinear compensation method of a pseudolite and inertial integrated navigation system, belonging to the technical field of navigation and positioning. Background technique [0002] Pseudolites are also called land-based transmitters or land-based satellites. Their functions and principles are similar to those of navigation satellites. They are mainly composed of receivers, transmitters, and antennas. They can send messages in the same format as navigation satellites. Compared with navigation satellites, pseudolites have the characteristics of low system cost, flexible setting, and good anti-jamming performance. In addition, the user can design the signal structure and message format of the pseudolite according to the application needs, with complete autonomy. Therefore, pseudolite technology has received extensive attention. [0003] Similar to the satellite / inertial integrated navigation system, the pseudolite / inertial i...

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Application Information

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IPC IPC(8): G01S5/14G01C21/16
Inventor 王玮
Owner BEIHANG UNIV
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