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Method for matching filter by gravity anomaly based on damping strapdown inertial navigation

A strapdown inertial navigation and gravity anomaly technology, which is applied in navigation calculation tools, navigation through speed/acceleration measurement, and measurement devices, can solve the problem that the constant value error cannot be significantly improved, and reduce errors and reduce Effect of system error and accuracy improvement

Inactive Publication Date: 2013-11-13
HARBIN ENG UNIV
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Problems solved by technology

[0003] Although the introduction of damping in the system can damp the periodic oscillation characteristics in the system, the constant error in the system cannot be significantly improved

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  • Method for matching filter by gravity anomaly based on damping strapdown inertial navigation
  • Method for matching filter by gravity anomaly based on damping strapdown inertial navigation
  • Method for matching filter by gravity anomaly based on damping strapdown inertial navigation

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Embodiment Construction

[0018] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0019] There are three kinds of periodic oscillations in the strapdown inertial navigation system (Schuler period, Earth period and Foucault period). In order to eliminate the periodic oscillation characteristics of the system and improve the system performance to a certain extent, the damping method is often used. However, Damping has only limited effect in reducing SINS delta errors. In order to further reduce system errors and improve system performance, the present invention combines damping strapdown inertial navigation and gravity-assisted navigation, and comprehensively utilizes the advantages of both to achieve the purpose of improving system performance. The basic block diagram of its principle is as follows figure 1 shown.

[0020] exist figure 1 After outputting the navigation solution information, and when there is a gravity outlier output by...

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Abstract

The invention provides a method for matching filter by gravity anomaly based on damping strapdown inertial navigation. The periodic oscillation property of a system can be damped by adding a gravity anomaly measurement module and adding a damping algorithm and a gravity anomaly value Kalman filter matching algorithm into a inertial navigation strapdown algorithm on the premise of not changing the precision of a system accelerometer and a gyroscope and not destroying the concealing property and independence of a strapdown inertial navigation system, the system error can be reduced, and the navigation precision of the system can be improved. According to the method, three periodic oscillation properties (including Schuler cycle oscillation, earth cycle oscillation and Foucault cycle oscillation) in the strapdown inertial navigation system can be eliminated by virtue of the damping property, so that the precision of the strapdown inertial navigation system can be improved to a certain extent. Navigation information acquired by the strapdown inertial navigation system can be corrected by the gravity anomaly value matching filter method.

Description

technical field [0001] The invention relates to a strapdown inertial navigation technology, in particular to a method for filter matching by using gravity anomalies in damped strapdown inertial navigation. Background technique [0002] In the strapdown inertial navigation system, for the periodic oscillation characteristics of the strapdown inertial navigation system, the usual practice is to introduce a damping network into the system to damp the oscillation error generated by the system. The introduction of horizontal damping in the horizontal channel of the system can damp the Schuler periodic oscillation; the introduction of azimuth damping in the azimuth channel can damp the earth's periodic oscillation; and the Foucault periodic oscillation is modulated by the Schuler periodic oscillation, when the Schuler periodic oscillation After damping, the Foucault periodic oscillation will also be damped. In terms of damped navigation, Beijing Automation Control Equipment Resea...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16G01C25/00
Inventor 奔粤阳杨晓龙高伟李倩李敬春阮双双
Owner HARBIN ENG UNIV
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