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Combined Alignment Method Based on Doppler Log Geographic System Velocity Error Estimation under Uniform Direct Flight

A technology of Doppler log and error estimation, applied in instruments, measuring devices, etc., can solve problems that cannot be used to solve navigation alignment problems and other problems

Inactive Publication Date: 2015-12-09
HARBIN ENG UNIV
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Problems solved by technology

The article "Research on New Two-position Combination Alignment Method" solves the problem of static base combination alignment, and cannot be used to solve the alignment problem during navigation

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  • Combined Alignment Method Based on Doppler Log Geographic System Velocity Error Estimation under Uniform Direct Flight
  • Combined Alignment Method Based on Doppler Log Geographic System Velocity Error Estimation under Uniform Direct Flight
  • Combined Alignment Method Based on Doppler Log Geographic System Velocity Error Estimation under Uniform Direct Flight

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Embodiment Construction

[0057] Combine below figure 1 Give an example to describe the present invention in more detail:

[0058] (1) The equipment is installed on the ship, and the ship is in a state of constant speed and direct sailing;

[0059] (2) Start the Doppler log;

[0060] (3) Start the inertial navigation system to complete the coarse alignment and obtain the strapdown matrix at the initial moment and the corresponding quaternion Q;

[0061] (4) Using strapdown matrix The speed measured by the DVL Converted to the Department of Geography:

[0062] V dvl n = C b n V dvl b

[0063] (5) Calculate the velocity V by inertial navigation E and the projection of DVL measurement velocity on the geographic system The difference is used as the measurement information, and the Kalman filter method is used to estimate the error amo...

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Abstract

The invention provides an integrated alignment method based on speed trial error estimation of a doppler velocity log on a geographical system under a constant-speed direct flight condition. The projection of a speed trial error of the doppler velocity log on the geographical system is expanded into a state variable, and a doppler velocity log / strapdown inertial navigation integrated alignment system is established on the basis. Compared with a method for only expanding the speed trial error of the doppler velocity log into the state variable, the method provided by the invention can be used for improving the observability level of the speed trial error of the doppler velocity log, effectively estimating the speed trial error and overcoming the influence on precision caused by the speed trial error of the doppler velocity log.

Description

technical field [0001] The invention relates to a method for initial alignment of combined navigation. Background technique [0002] The initial alignment technology is one of the key technologies of the inertial navigation system, and the alignment accuracy directly affects the performance of the navigation system. High-precision initial alignment is a difficult problem in the field of navigation, especially in the field of ship navigation. The easiest way to improve the alignment accuracy is to improve the accuracy of the device. However, it is difficult to achieve significant results in a short period of time by increasing the hardware investment to improve the accuracy. Therefore, how to improve alignment accuracy through system optimization has become a key research direction. Improving the alignment accuracy by means of error estimation and compensation has become a hot topic of research. [0003] The initial alignment of marine strapdown inertial navigation assiste...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
Inventor 高伟卢宝峰奔粤阳李倩张义鲍桂清徐文佳周广涛谢松霖郭宇
Owner HARBIN ENG UNIV
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