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Completely independent relative inertial navigation method

A technology of inertial navigation and navigation solution, applied in the field of inertial navigation

Inactive Publication Date: 2012-08-08
BEIJING AUTOMATION CONTROL EQUIP INST
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, if the accurate initial position cannot be obtained for some reason, such as the GPS being interfered in field operations or the inertial navigation system of the underwater vehicle is restarted after failure.

Method used

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  • Completely independent relative inertial navigation method
  • Completely independent relative inertial navigation method
  • Completely independent relative inertial navigation method

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Embodiment Construction

[0048] A kind of completely autonomous relative inertial navigation method provided by the present invention is introduced below in conjunction with accompanying drawing and embodiment:

[0049] (S1) System initialization

[0050] This step is mainly used to establish the initial reference direction and position for relative navigation when the carrier is stationary or moored; the specific steps are as follows:

[0051] (S1.1) Initial value setting:

[0052] Set the initial heading angle and attitude angle to 0°; because there is no accurate initial position information, set the initial latitude and longitude to 0°.

[0053] (S1.2) Navigation solution:

[0054] The angular velocity and specific force output by the gyroscope and the accelerometer are used to calculate the navigation parameters by using the existing navigation solution method.

[0055](S1.3) Estimate and correct the initial error:

[0056] The closed-loop Kalman filter is used, the formula (1) is used as the...

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Abstract

The invention belongs to the technical field of inertial navigation and in particular relates to a completely independent relative inertial navigation method. The purpose is to independently determine an azimuth angle and a latitude under the special condition that an accurate initial position cannot be obtained. The method comprises the following steps of: setting an initial course angle and an attitude angle as 0 degree and setting initial longitude and latitude as 0 degree; by using angular velocity and specific force output by a gyroscope and an accelerometer, figuring out a navigation parameter by using a traditional navigation calculating method; estimating and revising an initial error in a closed loop; carrying out navigation calculation relative to an initial position; and after accurate outside position information is obtained, resetting longitude information as the accurate value, and keeping the course angle, the attitude angle and the latitude invariable. By using the completely independent relative inertial navigation method provided by the invention, relative navigation can be carried out with high accuracy and true latitude information with high accuracy can be provided; moreover, the initial longitude error does not affect the relative navigation accuracy; and the relative navigation accuracy is superior to 2 nmile / 9h.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and in particular relates to a completely autonomous relative inertial navigation method, which is used to quickly establish emergency navigation capabilities under special circumstances such as unavailable satellite navigation systems or restarting of underwater vehicle navigation systems. Background technique [0002] Under normal circumstances, the work flow of the inertial navigation system is: binding the initial position, performing initial alignment, and performing dead reckoning on this basis; the initial position is the basic information for alignment and navigation of the inertial navigation system. However, if the accurate initial position cannot be obtained for some reason, such as the GPS being interfered in field operations or the underwater vehicle inertial navigation system failing, restarting. How to navigate in this situation becomes an urgent problem to be solved. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
Inventor 徐海刚练涛黄妍妍周章华陈明刚邱宏波
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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