External measured speed information-based horizontal attitude error correction method for SINS (serial inertial navigation system)

A horizontal attitude and error correction technology, which is applied to navigation, measurement devices, surveying and navigation through speed/acceleration measurement, and can solve problems such as heavy debugging workload, inability to correct attitude, and convergence effects

Inactive Publication Date: 2014-03-26
BEIJING INST OF AEROSPACE CONTROL DEVICES
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Problems solved by technology

When using the Kalman filter algorithm to design an integrated navigation system, it is necessary to establish a system error model. In addition, the Kalman filter algorithm is a recursive algorithm. When starting the algorithm, it is necessary to set the initial value of the parameters, the correctness of the error model and The rationality of the initial value of the parameter will have a direct impact on the convergence of the algorithm. In ...

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  • External measured speed information-based horizontal attitude error correction method for SINS (serial inertial navigation system)
  • External measured speed information-based horizontal attitude error correction method for SINS (serial inertial navigation system)
  • External measured speed information-based horizontal attitude error correction method for SINS (serial inertial navigation system)

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[0038] Because the inertial navigation system itself has instrument errors, initial alignment errors, gravity anomalies, etc., the navigation error diverges with time when the inertial navigation system works for a long time. Therefore, it is necessary to introduce external position information, external velocity information or external attitude information to correct the inertial navigation error.

[0039] Such as figure 1 As shown, the present invention provides a kind of SINS horizontal attitude error correction method based on external measurement velocity information, and the steps are as follows:

[0040] (1) The speed measured by the inertial navigation system Make a difference with the carrier's true northward velocity V obtained by GPS to obtain a velocity error signal

[0041] (2) Perform azimuth decoupling on the speed error signal obtained in step (1), and the decoupling matrix is ​​A;

[0042] A = ...

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Abstract

The invention discloses an external measured speed information-based horizontal attitude error correction method for a SINS (serial inertial navigation system). A speed error signal is sequentially subjected to azimuth decoupling and apparent acceleration decoupling, and a controlled variable is formed by the controller to correct the horizontal attitude to realize the correction of an inertial navigation system error. Compared with other combined navigation methods, the method has the advantages that the inertial navigation position and the horizontal attitude are corrected, and meanwhile, the designed controller is used for filtering signal noise, so that not only is the robustness of a combined navigation system improved, but also the navigation system of the combined navigation system is improved.

Description

technical field [0001] The invention relates to an error correction method, in particular to a SINS horizontal attitude error correction method based on externally measured velocity information, which belongs to the integrated navigation system design technology and can be used in aerospace, surveying and mapping and other occasions with high-precision navigation requirements. Background technique [0002] The inertial navigation system is a range reckoning system based on the quadratic integral of acceleration. It completely relies on mechanical equipment and corresponding algorithms to complete navigation tasks automatically and independently, without any optical or electrical contact with the outside world. Because of its advantages of good concealment and unrestricted working environment by meteorological conditions, it has become a widely used main navigation system in the fields of aerospace, aviation and navigation. However, the inertial navigation system itself has p...

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Application Information

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IPC IPC(8): G01C25/00G01C21/16
CPCG01C25/005G01C21/165
Inventor 魏宗康赵龙刘生炳
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES
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