Method for calibrating data of two point positions of marine aided inertial navigation system
A technology of inertial navigation system and calibration method, which is applied in the direction of measuring devices and instruments, and can solve the problems of low calibration accuracy, long calibration data collection time, and shortened calibration data collection time, etc.
Inactive Publication Date: 2012-07-18
BEIJING INSTITUTE OF TECHNOLOGYGY
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[0005] In order to solve the problems of long calibration data collection time and low calibration accuracy in the "comprehensive calibration" method, the present invention proposes a two-point position data calibration method for a marine inertial navigation system. The ship starts a long voyage after the initial startup of the dock, and the ship When navigating at sea for a period of time, when the inertial navigation system accumulates a certain navigation error and needs to be calibrated, according to this calibration method, only two single-point position navigation data provided by the outside can be obtained to calibrate the system. This method can not only shorten the time spent on calibration data collection time, and can further improve the accuracy of the inertial navigation system
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[0026] The present invention will be described in detail below in conjunction with the accompanying drawings.
[0027] The invention provides a method for calibrating two-point position data of a marine inertial navigation system. The data used in the method originate from the inertial navigation system and the satellite navigation receiver of the ship, and the inertial navigation system and the satellite navigation receiver of the ship With the information interface, the longitude and latitude data of the ship’s position obtained by the satellite antenna can be directly entered into the inertial navigation computer. The schematic diagram of the relationship between the inertial navigation system equipped on the ship and the ship’s satellite navigation receiver is as follows figure 2 shown.
[0028] Based on the above basis, in this embodiment, the inertial system error compensation during the navigation of the ship is simulated. The initial start-up of the ship in the dock ...
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The invention relates to the technical field of an inertial navigation system, and aims to solve the problems of long time of calibration data collection and low calibration accuracy in a comprehensive calibration method. The method for calibrating data of two point positions of a marine aided inertial navigation system comprises the following steps: a vessel is initially started at the dock, starts to sail, and sails for a period on the sea; and when the inertial navigation system accumulates certain navigation errors to cause that the calibration is needed, twice single-point position navigation data provided from the outside are required to be acquired according to the calibration method, and the system can be calibrated. According to the method, the time of calibration data collection can be shortened, and the accuracy of the inertial navigation system can be further improved.
Description
technical field [0001] The invention relates to the technical field of inertial navigation systems, in particular to a technical method for calibrating and improving the precision of a long-duration marine inertial navigation system using single-point position data obtained twice at sea. Background technique [0002] The marine inertial navigation system continuously and autonomously calculates and outputs various navigation parameters of the ship during the ship's navigation, including the ship's speed, attitude, course, and longitude and latitude of the position. The autonomy of the independent navigation function of the inertial navigation system, which does not need to use electromagnetic waves or light waves to communicate with external satellites or celestial bodies, is its advantage, but the error of the inertial navigation system, especially the error of the longitude and latitude of the position it provides , will continue to grow and accumulate with the prolongatio...
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IPC IPC(8): G01C25/00
Inventor 汪湛清房建成汪顺亭
Owner BEIJING INSTITUTE OF TECHNOLOGYGY