Relative attitude measurement real-time dynamic filter method based on dual-inertial measurement unit/differential global positioning system (IMU/DGPS) combination

Abstract

The invention discloses a relative attitude measurement real-time dynamic filter method based on a dual-inertial measurement unit / differential global positioning system (IMU / DGPS) combination. The method comprises the following steps of: resolving through strapdown inertial navigation in real time by adopting a dual optical fiber strapdown inertial navigation system to obtain navigation information of a master inertial navigation system and a slave inertial navigation system; judging whether information of a differential global positioning system (DGPS) is updated, and generating two situations: when the information of the DGPS is updated, the master inertial navigation system and the slave inertial navigation system perform filter correction to construct a measurement equation of a combined navigation filter, when the information of the DGPS is not updated, the master inertial navigation system is used for performing the filter correction on the slave inertial navigation system to construct a measurement equation of the combined navigation filter; discretizing the combined filter measurement equations obtained according to the two situations, constructing a recurrence equation of a discrete kalman filter, and resolving to obtain a pitching angle, a transversely rolling angle and a heading angle of each of the master inertial navigation system and the slave inertial navigation system; and then resolving a relative attitude matrix to obtain main values of relative attitude angles of the master inertial navigation system and the slave inertial navigation system. According to the method, the stability of a navigation system is improved; the speed information, the position information and the attitude information of the navigation system during measurement can be output in real time; and the measurement range is large.

Description

technical field [0001] The invention relates to the field of inertial navigation, specifically, a real-time dynamic filtering method for relative attitude measurement based on dual IMU / DGPS combination. Background technique [0002] The carrier with elastic deformation will produce structural vibration deformation when subjected to external force, external moment and turbulent flow. The deformation measurement of the carrier during the movement has high requirements for the accuracy of the measurement equipment, data update frequency, and reliability in a dynamic environment, but traditional measurement methods are difficult to meet. Especially in high-precision real-time measurement, because the environmental conditions and external moments received by different parts of the carrier are different, the relative deformation between the master-slave inertial navigation installation positions installed at different positions of the carrier will be different. affect its normal ...

AI Technical Summary

Problems solved by technology

[0007] 1. There are errors in each device on the carrier, and the dynamic deformation modeling of the transfer alignment method is complicated;

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