POS post-processing method with combination of closed-loop forward filtering and reverse smoothing

Abstract

The invention belongs to a POS post-processing method, and specifically relates to a POS post-processing method with the combination of closed-loop forward filtering and reverse-smoothing. The invention aims at providing a high-precision position and attitude post-processing method. The method comprises a Kalman filtering step and a reverse R-T-S smoothing step. Horizontal velocity error and height error estimated by forward Kalman filtering is fed back to an input end of an inertial navigation solver in real time through feedback controlling parameters; inertial velocity and position divergences are inhibited, and error model linearity is improved; and reverse R-T-S smoothing is carried out on the basis, such that a POS high-precision position and attitude post-processing result is obtained. The method has the advantages that: POS application requirements are satisfied; and high-precision position and attitude information is provided for a related image processing system (such as radar or a camera) and the like.

Description

technical field [0001] The invention relates to a high-precision position and attitude post-processing method suitable for POS (Position and Orientation System). Background technique [0002] POS has extremely high requirements on the position and attitude accuracy of the entire mission process, especially after working for a long time, the inertial navigation error increases rapidly in a short period of time, and the error model of the system is gradually inaccurate, which leads to the deterioration of the filtering effect of the system , the commonly used post-processing method combining forward Kalman filtering and reverse R-T-S (Rauch-Tung-Striebel) smoothing cannot solve this problem. Contents of the invention [0003] The purpose of the present invention is to provide a high-precision position and attitude post-processing method. By adopting a closed-loop real-time feedback method and designing reasonable control parameters, the error oscillation amplitude of the sys...

AI Technical Summary

Problems solved by technology

[0002] POS has extremely high requirements on the position and attitude accuracy of the entire mission process, especially after working for a long time, the inertial navigation error increases rapidly in a short period of time, and the error model of the system is gradually inaccurate, which leads to the deterioration of the filtering effect of the system , the commonly used post-processing method combining forward Kalman filtering and reverse R-T-S (Rauch-Tung-Striebel) smoothing cannot solve this problem

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