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Method for realizing landtype inertial navigation system movement aiming

An inertial navigation system and motion technology, applied in the field of initial alignment of inertial navigation systems, can solve problems such as filter divergence, speed output interference noise, and alignment failure

Inactive Publication Date: 2011-12-07
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

The disadvantage of this method is that in practical applications, due to the random vibration of the vehicle and the impact of the driving environment (such as mountains, tunnels, etc.), the speed output of GPS has various interference noises, and the statistical characteristics of the interference signals are not completely known.
If these disturbed observations are directly subjected to Kalman filtering without effective processing methods, it will not only reduce the current estimation accuracy, but also have an impact on the subsequent estimation effect. In severe cases, it will cause filter divergence and lead to alignment. fail

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  • Method for realizing landtype inertial navigation system movement aiming
  • Method for realizing landtype inertial navigation system movement aiming
  • Method for realizing landtype inertial navigation system movement aiming

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Embodiment Construction

[0061] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0062] In this embodiment, the inertial navigation system is fixedly connected to the vehicle, and the GPS receiver is installed on the roof of the vehicle. The vehicle is stationary for 30 seconds for rough alignment and then starts to move. The trajectory is as follows: figure 1 As shown, the abscissa is latitude, and the ordinate is longitude. The random drift of the three gyroscopes is 0.01 / h, and the constant drift is 0.02 / h; the random drift of the three accelerometers is 50 μg, and the constant drift is 100 μg; the initial latitude is 39.800343; the initial longitude is 116.166874; the initial Elevation is 40.87m; outlier detection threshold J max =0.5; the state vector of the dynamic error model of the inertial navigation system is the zero vector; the observation equation noise η of the dynamic error model of the inertial navigat...

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Abstract

The invention relates to a method for realizing landtype inertial navigation system movement aiming, belonging to the technical field of initial aiming of an inertial navigation system. On the basis of the dynamic error model of an inertial navigation system and an observational equation, the invention takes GPS output speed as an observed quantity, adopts Kalman filtering to estimate the jerk ofcarrier vehicles and judges whether GPS speed output is a wild value. If the GPS speed output is the wild value, the Kalman filtering flatting is adopted to recur the current state, otherwise a master Kalman filter and a slave Kalman filter are adopted to realize synchronous estimation of inertial navigation system state and noise statistical property; the master Kalman filter estimates the stateof the inertial navigation system, and the information and the variance thereof serve as the observed quantity of the filter; and the slave Kalman filter estimates the mean value and the variance of the observation noise of the master filter, and the estimation result provides noise characteristic input for the next filtering of the master filter so as to realize the landtype inertial navigation system movement aiming.

Description

technical field [0001] The invention relates to a method for realizing motion alignment of a land-use inertial navigation system, which is suitable for initial alignment of various inertial navigation systems and belongs to the technical field of initial alignment of inertial navigation systems. Background technique [0002] The inertial navigation system is a complex high-precision electromechanical integrated system, which is widely used in land, sea, air and space fields due to the advantages of complete autonomy. The inertial navigation system needs to perform initial alignment to provide the necessary initial value before turning into the navigation state. According to the motion of the carrier, the alignment is divided into: static base alignment and motion alignment. Compared with static base alignment, motion alignment has obvious advantages in shortening alignment time, improving alignment accuracy and maneuverability. In order to realize the alignment of the inert...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00G01C21/20G01C21/16
Inventor 付梦印王清哲邓志红肖烜林杰
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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