Correction method used for attitude and course angles of navigation system

A technology of a navigation system and a correction method, applied in the field of navigation correction, can solve the problem that the accuracy of attitude and heading parameters cannot meet the requirements of the navigation system, and achieve the effect of positioning and navigation, good effect and improved accuracy.

Active Publication Date: 2014-03-12
SOUTHEAST UNIV
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Problems solved by technology

For an inertial measurement unit (IMU) composed of only accelerometers and gyroscopes, the accuracy of the attitude and heading parameters

Method used

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  • Correction method used for attitude and course angles of navigation system
  • Correction method used for attitude and course angles of navigation system
  • Correction method used for attitude and course angles of navigation system

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Embodiment Construction

[0062] The present invention will be further explained below in conjunction with the accompanying drawings.

[0063] A method for correcting the attitude and heading angle of a navigation system, figure 2 It is a schematic diagram of the calculation of the carrier heading angle of the two-dimensional plane navigation system, according to figure 2 The calculation principle of heading angle is shown, and the two-dimensional plane is extended to three-dimensional space, such as image 3 shown. image 3 It is a schematic diagram of the calculation of the course angle of the carrier of the three-dimensional space navigation system, and the three-dimensional space is projected onto a two-dimensional plane to calculate the course angle of the carrier of the navigation system. The navigation coordinate system is selected as Northeast Heaven (ENU), the Y axis of the carrier coordinate system is the forward direction of the carrier, the X axis is perpendicular to the forward direction...

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Abstract

The invention declares a correction method used for attitude and course angles of a navigation system. The method comprises the following step of providing an effective method of conducting magnetometer error compensation and attitude angle error secondary modeling and correction, and realizing error correction of a whole system on the basis of an ellipsoid fitting method of improving expanded Kalman filter. The correction method is used for error correction of the attitude and course angles in an inertial integrated navigation and positioning system composed of an inertial measuring unit (IMU), a magnetometer and the like. According to the invention, a magnetic field compensation method is expanded to three-dimensional ellipsoid fitting from two dimensional elliptical fitting; a new ellipsoidal model and an improved extended Kalman filter method are utilized to conduct ellipsoid fitting; through the adoption of the method, the dynamical and real-time compensation for three-dimensional magnetic field interference of a carrier self can be effectively realized, and the accuracy in the measurement of the geomagnetic field is improved, thereby improving the precision of the course angle of the carrier; the error secondary modeling is conducted on the attitude angle information output by the navigation system, and then compensation is conducted on the output attitude angle to improve the precision of the attitude angle in real time.

Description

technical field [0001] The invention relates to a navigation correction method, in particular to a correction method for attitude and heading angle of a navigation system. Background technique [0002] In the application of the navigation system, whether the navigation system can provide the accurate attitude and heading angle information of the carrier is very important. For an inertial measurement unit (IMU) composed of only accelerometers and gyroscopes, the accuracy of the attitude and heading parameters output by the IMU cannot meet the requirements of some navigation systems due to the errors and drift of the accelerometers and gyroscopes themselves. The attitude and heading measurement system composed of inertial measurement unit (IMU) and magnetometer can improve the accuracy of attitude angle and heading angle. [0003] Using the geomagnetic field for navigation and positioning has the advantages of passive, no radiation, anti-interference, all-weather, all-weather...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C25/00G01C25/005
Inventor 陈熙源吕才平黄浩乾汤传业宋锐何昆鹏方琳
Owner SOUTHEAST UNIV
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