Online calibrating method of ship-based rotary strapdown inertial navigation system

Abstract

The invention discloses an online calibrating method of a ship-based rotary strapdown inertial navigation system. The method comprises the following steps: establishing an inertial component output error model and an inertial navigation system error equation, and researching the calibration of inertial component parameter errors and determining the quantity of state and the quantity of measuration; determining the position and weight of a cubature point according to dimension of the quantity of state, deducing a state equation and a one-step state prediction and state prediction covariance matrix related to the cubature point, and introducing a multiple time-varying fading factor modified state prediction covariance matrix; and deducing a measuring equation related to the cubature point and the fading factors, a self-correlated covariance matrix, a cross-correlated covariance matrix, a gain matrix, a state estimated value and a state error covariance estimated value, and designing a strong tracking volume Kalman filtering method with strong tracking performance and strong robustness. The method disclosed by the invention estimates the inertial component parameter errors by a filtering algorithm and carries out online calibration and compensates the inertial component parameter errors, so that the navigation precision is effectively improved. The method has strong parameter-varying robustness.

Description

technical field [0001] The invention belongs to the field of on-line calibration of a ship-borne rotary inertial navigation system and the technical field of application of a filtering method, and in particular relates to an online calibration method of a ship-borne rotary strapdown inertial navigation system. Background technique [0002] On-line calibration technology is to use certain external information for error excitation to calibrate the inertial device parameter error under the condition that the inertial navigation system and the carrier are not separated. At present, the online calibration technology of the rotary strapdown inertial navigation system has been successfully implemented abroad It is used in shipborne, missile-borne and airborne inertial navigation systems, but its related technologies are highly confidential. With the maturity and development of the technology of the rotary strapdown inertial navigation system in our country, the research on the rotar...

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Problems solved by technology

[0004] The purpose of the embodiments of the present invention is to provide a method for online calibration of the shipborne rotary SINS, aiming to solve the problem of the online calibration of the shipboard rotary SINS due to the influence of waves, sea winds, etc. The uncertainty of the system model will lead to problems of filtering divergence, low precision and poor robustness, which seriously affect the problem of online calibration accuracy

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