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

A technology of strapdown inertial navigation and inertial navigation system, which is applied in the field of online calibration of shipborne rotary inertial navigation system, can solve problems such as affecting the accuracy of online calibration, poor robustness, and filter divergence, and achieves compensation for parameter errors without linearization. , the effect is not easy to spread
CN103591965AInactive Publication Date: 2014-02-19HARBIN ENG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
HARBIN ENG UNIV
Publication Date
2014-02-19
Estimated Expiration
Not applicable · inactive patent

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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.
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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...

Claims

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