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

A forward filtering and reverse technology, applied in directions such as navigation through speed/acceleration measurement, can solve problems such as inaccurate error models and poor system filtering effects

Inactive Publication Date: 2013-03-27
BEIJING AUTOMATION CONTROL EQUIP INST
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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

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

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Embodiment Construction

[0110] The present invention will be further described below in conjunction with specific embodiment:

[0111] Apply the above method to the inertial and GPS measurement data of a certain type of POS for post-processing.

[0112] Closed-loop real-time feedback is divided into two channels, horizontal and vertical, and the specific implementation process is divided into two steps:

[0113] 1) Determine the feedback control parameters.

[0114] The characteristic equation of the horizontal channel of the conventional inertial navigation system is (will oscillate), where R e = 6378137 meters is the radius of the earth in the WGS84 coordinate system, g 0 =9.780318 m / s 2 is the gravitational constant of the earth. Design it as a typical second-order system

[0115] ▿ 1 ′ ( s ) = s 2 + K ...

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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...

Claims

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Application Information

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IPC IPC(8): G01C21/16
Inventor 周东灵李文耀尚克军张勤拓扈光锋周祖洋刘辉谢仕民邱宏波刘峰
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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