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Time delay compensation method in inertia gravity matching combined navigation system

A technology of integrated navigation system and inertial navigation system, which is applied in the field of integrated navigation and can solve problems such as measurement data delay

Inactive Publication Date: 2014-04-23
HARBIN ENG UNIV
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Problems solved by technology

This method can guarantee the filtering performance and is relatively simple, but when the measurement data delay is large, it will bring great computing pressure and data storage space pressure to the system, which will eventually lead to more delays in the measurement data

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  • Time delay compensation method in inertia gravity matching combined navigation system
  • Time delay compensation method in inertia gravity matching combined navigation system
  • Time delay compensation method in inertia gravity matching combined navigation system

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Embodiment Construction

[0065] The invention and the embodiments will be further described below in conjunction with the accompanying drawings.

[0066] The present invention is a compensation method for time delay in an inertial / gravity matching integrated navigation system, the flow chart of which is as follows figure 1 shown, including the following steps:

[0067] Step 1. Collect the latitude output by the inertial navigation system Longitude λ, heading ψ and speed information V and gravity signal measured by the gravimeter;

[0068] Specifically, each set of data includes the latitude collected by the inertial navigation system Longitude λ, heading ψ, velocity information V and the gravity signal measured by the gravimeter, record 1 set of data per second, and save it in a file. When recording, it is necessary to ensure that the time of each group of signals is synchronized.

[0069] Step 2. Use the latitude output by the inertial navigation system Heading ψ and velocity V calculate Utte...

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Abstract

The invention discloses a time delay compensation method in an inertia gravity matching combined navigation system. The method comprises the following steps: acquiring latitude and longitude lambda (img file='DDA 0000458357530000011.TIF' wi='71' he='48'), course psi and velocity V output by an inertial navigation system and a gravity signal acquired by a gravity meter; 2, calculating an Eotvos correction value of the gravity signal, and performing filtering processing on the Eotvos correction value; 3, determining the delay time of the gravity signal; 4, acquiring a carrier position at the corresponding moment of the gravity signal by utilizing a matching algorithm based on a gravity contour; 5, establishing a Kalman filter model; 6, taking the latitude and longitude at the carrier position as the observed quantity, estimating the error of the inertial navigation system at a corresponding time point of the gravity signal by utilizing Kalman filtering, and correcting the inertial navigation system; and 7, performing Kalman filtering, predicting a state vector at a current moment in multiple steps, and finishing time delay compensation. The method has the advantages of gravity signal time delay compensation and high navigation precision.

Description

technical field [0001] The invention belongs to the field of integrated navigation, and in particular relates to a compensation method for time delay in an inertia gravity matching integrated navigation system with the function of compensating gravity signal delay. Background technique [0002] In the 1980s and 1990s, the United States and the former Soviet Union successively began to develop passive navigation assistance systems for strategic underwater vehicles. The initial auxiliary method is based on graphic matching, including matching with seabed topographic maps and magnetic field maps. However, due to the need to use sonar to measure seabed contours, the concealment of seabed topography matching is weak; at the same time, it is difficult to actually use it due to the complexity of magnetic field changes. In underwater vehicle navigation, gravity signals and gravity gradient data become the main passive information resources for underwater vehicle navigation. Gravity...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00
CPCG01C21/005G01C21/165G01C25/005
Inventor 周广涛姜鑫孙艳涛赵博林萌萌李佳璇夏秀玮郝勤顺于春阳赵维珩
Owner HARBIN ENG UNIV
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