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Integrated navigation system recursion optimizing initial-alignment method based on polarization information

A technology combining navigation system and polarization information, applied in satellite radio beacon positioning system, radio wave measurement system, measurement device and other directions, can solve the problem that attitude misalignment angle information cannot be directly measured, limit the shortening of alignment time and improve accuracy and other problems to achieve the effect of suppressing norm-bounded interference and improving alignment time and accuracy

Active Publication Date: 2013-07-24
青岛智融领航科技有限公司
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AI Technical Summary

Problems solved by technology

In the actual initial alignment process, based on the SINS / GPS integrated navigation system, the attitude misalignment angle information cannot be directly measured, which greatly limits the shortening of alignment time and the improvement of accuracy

Method used

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  • Integrated navigation system recursion optimizing initial-alignment method based on polarization information
  • Integrated navigation system recursion optimizing initial-alignment method based on polarization information
  • Integrated navigation system recursion optimizing initial-alignment method based on polarization information

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Embodiment Construction

[0027] Such as figure 1 , 2 Shown, concrete method of the present invention is as follows:

[0028] (1) Mainly consider the energy bounded interference in the SINS / GPS integrated navigation system, the energy bounded in the mathematical description is the norm bounded form, establish the system state equation of the SINS / GPS integrated navigation system, respectively based on the speed error, position The error and polarization angle information are used to establish corresponding measurement equations, and after discretization, the results are shown in Equation 1 and Equation 2.

[0029] System state equation:

[0030] X(k+1)=F(k)X(k)+B(k)ω(k) (1) where X(k)=[φ E φ N φ U δV E δV N δV U δL δλ δH] T , φ E , φ N and φ U is the misalignment angle of the mathematical platform; δV E , δV N and δV U are eastward, northward, and skyward speed errors; δL, δλ, and δH are latitude error, longitude error, and height error, respectively; F(k)∈R 6×6 , is the dis...

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Abstract

The invention relates to an integrated navigation system recursion optimizing initial-alignment method based on polarization information. The method is characterized in that positions and speed output by a ship's inertial navigation system (SINS) are corrected with the help of a global position system (GPS), and azimuth angles output by the SINS are corrected by using polarizing angle information provided by a polarization sensor. A recursion robust filter is adopted to restrain model errors in an inertial device and filter interference like noise of a part of devices. The initial-alignment method has the advantages that compared with an SINS / GPS integrated navigation system without the polarizing angle information, alignment time is shortened on equal conditions. The integrated navigation system recursion optimizing initial-alignment method has the advantages of being fast in alignment, strong in anti-interference capability and the like, and the integrated navigation system recursion optimizing initial-alignment method can be applied to an initial-alignment process of integrated navigational devices for airplanes, steamships and vehicles.

Description

technical field [0001] The invention relates to a method for recursively optimizing initial alignment of an integrated navigation system based on polarization information, which can be used to improve the accuracy of initial alignment for aircraft, ships or ground vehicles. Background technique [0002] During the initial alignment process, the strapdown inertial navigation system (SINS) can continuously provide navigation parameters such as attitude, speed, and position, and its accuracy is high in a short period of time. However, the disadvantage is that errors accumulate over time. Global Positioning System (GPS) can provide speed, position navigation information, and the error does not accumulate over time. The SINS / GPS integrated navigation system overcomes their respective shortcomings and complements the advantages of the two. In the actual initial alignment process, based on the SINS / GPS integrated navigation system, the attitude misalignment angle information cann...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/49
Inventor 郭雷杜涛曹松银杨健周大鹏张霄罗建军
Owner 青岛智融领航科技有限公司
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