Gravity matching method based on improved mean-square deviation (MSD)

A technology of gravity matching and matching points, which is applied in the direction of navigation through speed/acceleration measurement, navigation calculation tools, etc., and can solve problems such as large amount of calculation, long time consumption, and low matching accuracy

Active Publication Date: 2014-03-05
HARBIN ENG UNIV
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Problems solved by technology

However, these correlation analysis methods require a large amount of calculation, take a long time, have high requirements for the resolution of the gravity database, and the matching accuracy is not high

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  • Gravity matching method based on improved mean-square deviation (MSD)
  • Gravity matching method based on improved mean-square deviation (MSD)
  • Gravity matching method based on improved mean-square deviation (MSD)

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Embodiment Construction

[0052] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0053] Gravity matching method based on improved MSD, including:

[0054] (1) Determine the reference position information output by the inertial navigation system: longitude r x and latitude r y , according to the gravity anomaly reference map pre-stored in the computer, that is, the EGM2008 gravity database, to obtain the gravity anomaly value Δg and the gradient of gravity anomaly change at this location with

[0055] (2) Introduce position error vector e=(e x ,e y ), establishing a reference position (r x ,r y ) with the matching position (p x ,p y ), the gravity anomaly function is applied on both sides of the equation, and the first-order Taylor expansion is carried out;

[0056] (3) Neglecting the changes in heading and speed of the reference trajectory and the matching trajectory within the sampling interval, the cost function E is...

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Abstract

The invention belongs to the technical field of a gravity-aided inertial navigation system, and particularly relates to a gravity matching method based on improved mean-square deviation (MSD). The method comprises the following steps: determining reference position information; leading in a position error vector; determining a cost function; determining a position error vector for minimizing the cost function E, so as to obtain a final position. Aiming at the problems of large calculated amount and much elapsed time of the traditional gravity matching method, a position error vector is led in to determine the cost function on the basis of the MSD; the matching process in the matched computer is simplified; the work efficiency of the matched computer is improved on the basis of ensuring the matching accuracy. By adopting the method disclosed by the invention, the position error vector is obtained by leading in an SOR iteration method, and the convergence rate is faster. A gravimetric database is utilized by general matching methods; the accuracy of the existing gravimetric database needs to be further improved. Only the gravity abnormality value and the variation gradient of a point on a reference track are utilized in the matching process of the method; dependence on the gravimetric database is alleviated.

Description

technical field [0001] The invention belongs to the technical field of gravity-assisted inertial navigation systems, and in particular relates to a gravity matching method based on an improved MSD. Background technique [0002] The inertial navigation system is a navigation system that uses its own gyroscope to establish and maintain a space reference, and measures the acceleration of the carrier through the accelerometer to calculate the heading, speed, position and horizontal attitude of the carrier. The inertial navigation system can perform autonomous navigation without receiving external information, so it has a very important position in the military. However, due to the inherent random drift of its core inertial device-gyroscope, system errors accumulate over time. Using external information to readjust the inertial navigation system can eliminate the accumulation of system errors, but this reduces the concealment of the carrier. The change of the earth's gravitation...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/16G01C21/20
Inventor 高伟赵博姜鑫周广涛孙艳涛郝勤顺林萌萌李佳璇夏秀玮于春阳
Owner HARBIN ENG UNIV
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