Mobile platform test system and error compensation algorithm

Abstract

The invention discloses a mobile platform test system and an error compensation algorithm. The mobile platform test system comprises a monitoring reference station and a mobile station fixed on a mobile platform, the monitoring reference station comprises a reference station data transmission radio station and a differential GPS (Global Positioning System) reference station which are connected with a monitoring computer, the mobile station comprises a fiber-optic gyroscope data acquisition and processing unit, an accelerometer data acquisition and processing unit and a satellite positioning and navigation unit which are connected with a navigation computer, the satellite positioning and navigation unit is connected with a navigation antenna, the navigation computer is connected with a mobile station data transmission radio station through a communication controller, and the fiber-optic gyroscope data acquisition and processing unit and the accelerometer data acquisition and processing unit are connected with the navigation computer through an IMU (Inertial Measurement Unit) compensation unit. The mobile platform test system and the error compensation algorithm which are designed by the invention solve the problem in an inertial navigation system that errors exist in the mounting of inertial elements and elements and the process of the engineering implementation of the system.

Description

technical field [0001] The invention belongs to a strapdown inertial navigation test system, in particular to a mobile platform test system and an error compensation algorithm. Background technique [0002] GPS has the advantages of high positioning accuracy and no error accumulation over time, and the positioning accuracy of differential GPS technology can reach centimeter level. However, GPS also has shortcomings such as the signal is easily blocked or interfered, the data update rate is low, and the output of attitude information is lacking; in comparison, the inertial navigation system (INS) is a completely autonomous navigation system with a high data update rate. , and has attitude information output, but due to the existence of gyro error drift, even the high-precision INS also faces the problem of error accumulation as the navigation time prolongs. Navigation accuracy diverges over time, cannot work alone for long periods of time, and must be constantly calibrated. ...

AI Technical Summary

Problems solved by technology

However, GPS also has shortcomings such as the signal is easily blocked or interfered, the data update rate is low, and the output of attitude information is lacking; in comparison, the inertial navigation system (INS) is a completely autonomous navigation system with a high data update rate. , and has attitude information output, but due to the existence of gyro error drift, even high-precision INS also faces the problem of error accumulation as the navigation time prolongs

Navigation accuracy diverges over time, cannot work alone for long periods of time, must be constantly calibrated

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