Open and closed loop mixing correction method of inertia/satellite combination navigation system

An integrated navigation system and satellite navigation technology, which is applied in the field of hybrid open-loop and closed-loop correction of inertial/satellite integrated navigation systems, and can solve problems such as complex calculation process

Inactive Publication Date: 2012-04-25
FLIGHT AUTOMATIC CONTROL RES INST
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Problems solved by technology

[0060] It can be seen from (17) and (18) that the estimation of R and Q involves the determination of t

Method used

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  • Open and closed loop mixing correction method of inertia/satellite combination navigation system
  • Open and closed loop mixing correction method of inertia/satellite combination navigation system
  • Open and closed loop mixing correction method of inertia/satellite combination navigation system

Examples

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Comparison scheme
Effect test

Embodiment

[0146] The following examples can be implemented respectively:

[0147] 1) Adaptively obtain the Kalman filter measurement noise variance value

[0148] Longitude and latitude can be selected as the quantity measurement, m=2, take R 01 = R 02 =20 2 (m 2 ), the closed-loop correction period is 10s.

[0149] but:

[0150] ①Judge whether the second pulse of the satellite receiver arrives within 0.9s~1.1s, the result: yes;

[0151] ②Judge whether the satellite data packet arrives within 950ms, the result: yes;

[0152] ③ Judging whether the conditions of valid satellite status word and closed-loop correction cycle seconds are satisfied, the result: yes;

[0153] ④ makes | Z 1 | 2 with PL 1The units are the same, |Z 2 | 2 with PL 2 The units are the same as the units are the same.

[0154] Hypothesis|Z 1 | 2 =(0.002°) 2 (latitude measurement), |Z 2 | 2 =(0.003°) 2 (measurement of longitude),

[0155] PL 1 =(4.712×10 -6 rad) 2 PL 1 =(6.283×10 -6 rad) 2 ...

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Abstract

The invention belongs to the navigation technology field, relating to an open and closed loop mixing correction method of an inertia/satellite combination navigation system. The invention employs the open and closed loop mixing correction method to correct a margin of error of the inertia satellite navigation system. In closed loop correction, a method of using an adaptive Kalman filter to measure a noise variance value is employed, the method is simple and easy, implement difficulty is small, jumping abnormity of satellite navigation data and large fluctuation of correction amount when entering into a combination state after long time of not combination can be effectively inhibited, and accuracy and stability of closed loop correction are raised. In open loop correction, real-time updating in each second is performed on collected measurement amount, correction frequency is same with inertial navigation system data bus frequency, in closed loop and opened loop correction of different frequency, a method of second pulse synchronization according to a satellite navigation receiver is employed, seamless connection is realized, error correction is rapid and smooth, and a problem that closed loop correction is easy to interfere open loop correction is solved.

Description

technical field [0001] The invention belongs to the technical field of navigation and relates to an open-closed-loop hybrid correction method for an inertial / satellite integrated navigation system. Background technique [0002] At present, in the navigation system, the adaptive Kalman filter correction method based on the adaptive calculation of system noise or measurement noise variance generally has the problems of large calculation and complicated programming. [0003] Literature [1] Weidong Ding, Jinling Wang and Chris Rizos. Improving Adaptive Kalman Estimation in GPS / INS Integration [J]. THE JOURNAL OF NAVIGATION (2007), 60, 517-529 ([1] Weidong Ding, Jinling Wang and Chris Rizos. Improving Kalman Estimation in GPS / INS (Inertial Navigation System) Combinations. Journal of Navigation (USA) (2007), 60, P.517-P.529). Its main method is to calculate the adaptive noise variance matrix In three steps: [0004] 1) First use a sliding window with m points to calculate the ...

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Application Information

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IPC IPC(8): G01S19/39
Inventor 魏伟杨卫平张晓冬谭宏光薛涛
Owner FLIGHT AUTOMATIC CONTROL RES INST
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